Skip to main content
SpringerLink
Log in

Fundamentals of Robotic Mechanical Systems

Theory, Methods, and Algorithms

  • Textbook
  • Dec 2006

Overview

Authors:
  1. Jorge Angeles

    1. Department of Mechanical Engineering and Center for Intelligent Machines, McGill University, Montreal, Canada

    View author publications

    You can also search for this author in PubMed   Google Scholar

  • Addresses a broad spectrum of robots - walking machines, flight simulators, machine tools and more – that rely on mechanical systems
  • Covers trajectory planning; determination of angular velocity and angular acceleration from point data; inverse and direct kinematics manipulators; kinematics and dynamics of rolling robots, and more
  • New edition incorporates edition numerous advances in both the theoretical aspects and the applications of robotics
  • Includes an extensive set of exercises and a completely worked solutions manual
  • Request lecturer material: sn.pub/lecturer-material

Part of the book series: Mechanical Engineering Series (MES)

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (12 chapters)

  1. Front Matter

    Pages i-xxiv
    Download chapter PDF

  2. An Overview of Robotic Mechanical Systems

    Pages 1-25

  3. Mathematical Background

    Pages 27-88

  4. Fundamentals of Rigid-Body Mechanics

    Pages 89-128

  5. Geometry of Decoupled Serial Robots

    Pages 129-165

  6. Kinetostatics of Serial Robots

    Pages 167-232

  7. Trajectory Planning: Pick-and-Place Operations

    Pages 233-256

  8. Dynamics of Serial Robotic Manipulators

    Pages 257-321

  9. Special Topics in Rigid-Body Kinematics

    Pages 323-342

  10. Geometry of General Serial Robots

    Pages 343-386

  11. Kinematics of Alternative Robotic Mechanical Systems

    Pages 387-428

  12. Trajectory Planning: Continuous-Path Operations

    Pages 429-468

  13. Dynamics of Complex Robotic Mechanical Systems

    Pages 469-505

  14. Back Matter

    Pages 507-551
    Download chapter PDF
Back to top

Keywords

About this book

Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).

Reviews

From the reviews of the third edition:

"The principal aim of this book is to serve as a textbook for a robotics course and as a reference for practicing engineers. It may be used also by an audience that ranges from junior undergraduates to doctoral students. … the book has the nice feature that the different chapters are quite independent and may serve as a guide to various important problems in robotics. Each chapter offers a lot of examples and exercises, which is the most significant … of the book." (Clementina D. Mladenova, Mathematical Reviews, Issue 2009 c)

Authors and Affiliations

  • Department of Mechanical Engineering and Center for Intelligent Machines, McGill University, Montreal, Canada

    Jorge Angeles

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation