Fundamentals of Robotic Mechanical Systems: Theory, Methods, and AlgorithmsMechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology. |
Contents
| 1 | |
| 9 | |
Mathematical Background | 19 |
Fundamentals of RigidBody Mechanics | 71 |
9 | 174 |
PickandPlace Operations | 191 |
Dynamics of Serial Robotic Manipulators | 213 |
Special Topics in RigidBody Kinematics | 275 |
Kinematics of Complex Robotic Mechanical Systems | 289 |
Dynamics of Complex Robotic Mechanical Systems | 393 |
B The Numerical Solution of Linear Algebraic Systems | 436 |
Exercises | 443 |
| 493 | |
| 505 | |
Other editions - View all
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms Jorge Angeles Limited preview - 2007 |
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms Jorge Angeles Limited preview - 2002 |
Common terms and phrases
3-dimensional vector acceleration algorithm angle angular velocity array axes axis calculated Cartesian coefficients components computed condition number configuration coordinate frame decoupled manipulators defined denoted determined dynamics e₁ eigenvalues end-effector Euler-Lagrange equations Euler-Rodrigues parameters expression Fi+1 FIGURE foregoing equation function Furthermore given hence identical invariants inverse kinematics isotropic ith joint ith link Jacobian matrix joint rates joint variables joint-rate kinematic pairs linear manipulator of Fig mass center Moreover motion multiplications namely Newton-Euler obtain orientation orthogonal orthogonal matrix P₁ parallel manipulators parameters planar Plücker Plücker coordinates polynomial pose position vector prismatic pair problem relations representation requires respect revolute rigid body robot robotic manipulators robotic mechanical systems rolling robots rotation matrix Section serial manipulators shown in Fig singular six-axis solution solve spline Subsection Theorem thereby time-derivatives tion torques transformation twist unit vector values vanishes wheels workspace wrench wrist zero