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Fundamentals of Robotic Mechanical Systems

Theory, Methods, and Algorithms

  • Textbook
  • © 2014

Overview

Authors:
  1. Jorge Angeles

    1. Centre for Intelligent Machines, McGill University, Montreal, Canada

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  • Includes additional examples and exercises that serve as a guide to various, current dilemmas in robotics
  • Features modern images of new robot models
  • Revised and rewritten so that it is more complete and easy to understand for beginners to the world of robotics
  • Request lecturer material: sn.pub/lecturer-material

Part of the book series: Mechanical Engineering Series (MES, volume 124)

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Table of contents (13 chapters)

  1. Front Matter

    Pages i-xxiii
    Download chapter PDF

  2. An Overview of Robotic Mechanical Systems

    • Jorge Angeles
    Pages 1-25

  3. Mathematical Background

    • Jorge Angeles
    Pages 27-94

  4. Fundamentals of Rigid-Body Mechanics

    • Jorge Angeles
    Pages 95-138

  5. Geometry of Decoupled Serial Robots

    • Jorge Angeles
    Pages 139-183

  6. Kinetostatics of Serial Robots

    • Jorge Angeles
    Pages 185-254

  7. Trajectory Planning: Pick-and-Place Operations

    • Jorge Angeles
    Pages 255-279

  8. Dynamics of Serial Robotic Manipulators

    • Jorge Angeles
    Pages 281-351

  9. Special Topics in Rigid-Body Kinematics

    • Jorge Angeles
    Pages 353-374

  10. Geometry of General Serial Robots

    • Jorge Angeles
    Pages 375-419

  11. Kinematics of Alternative Robotic Mechanical Systems

    • Jorge Angeles
    Pages 421-463

  12. Trajectory Planning: Continuous-Path Operations

    • Jorge Angeles
    Pages 465-506

  13. Dynamics of Complex Robotic Mechanical Systems

    • Jorge Angeles
    Pages 507-546

  14. Erratum

    • Jorge Angeles
    Pages E1-E6

  15. Back Matter

    Pages 547-589
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Keywords

About this book

The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.

Authors and Affiliations

  • Centre for Intelligent Machines, McGill University, Montreal, Canada

    Jorge Angeles

About the author

Jorge Angeles, Ph.D. is a professor at the Department of Mechanical Engineering and the Centre for Intelligent Machines at McGill University.

Bibliographic Information

  • Book Title: Fundamentals of Robotic Mechanical Systems

  • Book Subtitle: Theory, Methods, and Algorithms

  • Authors: Jorge Angeles

  • Series Title: Mechanical Engineering Series

  • DOI: https://doi.org/10.1007/978-3-319-01851-5

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer Nature Switzerland AG 2014

  • Hardcover ISBN: 978-3-319-01850-8Published: 19 December 2013

  • Softcover ISBN: 978-3-319-30762-6Published: 19 December 2013

  • eBook ISBN: 978-3-319-01851-5Published: 09 December 2013

  • Series ISSN: 0941-5122

  • Series E-ISSN: 2192-063X

  • Edition Number: 4

  • Number of Pages: XXIII, 589

  • Number of Illustrations: 142 b/w illustrations, 18 illustrations in colour

  • Topics: Mechanical Engineering, Robotics and Automation

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