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.
Erscheinungsdatum: 19.12.2013

lgrsnf/N:\!genesis_files_for_add\_add\ftp2020-10\Springer-books\Fundamentals of Robotic Mechanical Systems - Jorge Angeles.pdf

nexusstc/Fundamentals of robotic mechanical systems: theory, methods, and algorithms/c65cc98f20b5fe2c47a2a9076562367a.pdf

zlib/Engineering/Angeles, Jorge/Fundamentals of robotic mechanical systems: theory, methods, and algorithms_10948395.pdf

Jorge Angeles; SpringerLink (Online service)

Springer Nature Switzerland AG

Springer London, Limited

Mechanical engineering series (Berlin, Germany), Volume 124, Fourth edition, Cham, 2014

Springer Nature (Textbooks & Major Reference Works), Cham, 2014

Mechanical Engineering Series, 124, 4th ed. 2014, Cham, 2014

Switzerland, Switzerland

4th ed. 2014, 2013

lg2856202

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Preface to the Fourth Edition......Page 8
Preface to the First Edition......Page 12
On Notation......Page 15
Acknowledgments......Page 16
Contents......Page 20
1.1 Introduction......Page 25
1.2 The General Architecture of Robotic Mechanical Systems......Page 27
1.2.3 Types of Robots by Application......Page 31
1.3 Manipulators......Page 32
1.3.1 Robotic Arms......Page 33
1.3.2 Robotic Hands......Page 34
1.4.1 Parallel Robots......Page 36
1.4.2 SCARA Systems......Page 39
1.5.1 Legged Robots......Page 41
Humanoids......Page 42
1.5.2 Wheeled Robots and Rovers......Page 43
1.5.2.1 Rovers......Page 45
1.6 Swimming Robots......Page 47
1.8 Exercises......Page 48
2.1 Preamble......Page 50
2.2 Linear Transformations......Page 51
2.3 Rigid-Body Rotations......Page 56
2.3.1 The Cross-Product Matrix......Page 60
2.3.2 The Rotation Matrix......Page 64
The Canonical Forms of the Rotation Matrix......Page 66
2.3.3 The Linear Invariants of a 33 Matrix......Page 67
2.3.4 The Linear Invariants of a Rotation......Page 69
2.3.5 Examples......Page 71
2.3.6 The Euler–Rodrigues Parameters......Page 78
2.4 Composition of Reflections and Rotations......Page 81
2.5.1 Coordinate Transformations Between Frames with a Common Origin......Page 83
2.5.2 Coordinate Transformation with Origin Shift......Page 87
2.5.3 Homogeneous Coordinates......Page 89
2.6 Similarity Transformations......Page 93
2.7 Invariance Concepts......Page 99
2.7.1 Applications to Redundant Sensing......Page 104
2.8 Exercises......Page 108
3.2 General Rigid-Body Motion and Its Associated Screw......Page 118
3.2.1 The Screw of a Rigid-Body Motion......Page 122
3.2.2 The Plücker Coordinates of a Line......Page 125
3.2.3 The Pose of a Rigid Body......Page 128
3.3 Rotation of a Rigid Body About a Fixed Point......Page 131
3.4 General Instantaneous Motion of a Rigid Body......Page 132
3.4.1 The Instant Screw of a Rigid-Body Motion......Page 133
3.4.2 The Twist of a Rigid Body......Page 137
3.5 Acceleration Analysis of Rigid-Body Motions......Page 140
3.6 Rigid-Body Motion Referred to Moving Coordinate Axes......Page 143
3.7 Static Analysis of Rigid Bodies......Page 144
3.8 Dynamics of Rigid Bodies......Page 148
3.9 Exercises......Page 154
4.2 The Denavit–Hartenberg Notation......Page 162
4.3 The Geometric Model of Six-Revolute Manipulators......Page 173
4.4.1 The Positioning Problem......Page 177
The Vanishing of 1......Page 184
The Vanishing of 2......Page 187
4.4.2 The Orientation Problem......Page 194
4.5 Exercises......Page 202
5.1 Introduction......Page 207
5.2 Velocity Analysis of Serial Manipulators......Page 208
5.2.1 Decoupled Manipulators......Page 213
5.3 Jacobian Evaluation......Page 216
5.3.1 Evaluation of Submatrix A......Page 217
5.3.2 Evaluation of Submatrix B......Page 219
5.4 Singularity Analysis of Decoupled Manipulators......Page 221
5.4.1 Manipulator Workspace......Page 224
5.5 Acceleration Analysis of Serial Manipulators......Page 228
5.6 Static Analysis of Serial Manipulators......Page 232
5.7 Planar Manipulators......Page 234
5.7.1 Displacement Analysis......Page 236
5.7.2 Velocity Analysis......Page 238
5.7.3 Acceleration Analysis......Page 240
5.7.4 Static Analysis......Page 242
5.8 Kinetostatic Performance Indices......Page 243
Planar Manipulators......Page 250
Spatial Manipulators......Page 252
5.8.2 Orienting Manipulators......Page 253
5.8.3 Positioning and Orienting Manipulators......Page 254
Planar Manipulators......Page 255
Spatial Manipulators......Page 259
5.8.4 Computation of the Characteristic Length: Applications to Performance Evaluation......Page 262
5.9 Exercises......Page 271
6.1 Introduction......Page 277
6.2 Background on PPO......Page 278
6.3.1 A 3-4-5 Interpolating Polynomial......Page 280
6.3.2 A 4-5-6-7 Interpolating Polynomial......Page 284
6.4 Cycloidal Motion......Page 287
6.5 Trajectories with via Poses......Page 289
6.6 Synthesis of PPO Using Cubic Splines......Page 291
6.7 Exercises......Page 299
7.2 Inverse vs. Forward Dynamics......Page 302
7.3.1 On Nomenclature and Basic Definitions......Page 304
7.3.2 The Euler–Lagrange Equations of Serial Manipulators......Page 305
7.3.3 Kane's Equations......Page 314
7.4 Recursive Inverse Dynamics......Page 315
7.4.1 Kinematics Computations: Outward Recursions......Page 316
7.4.2 Dynamics Computations: Inward Recursions......Page 322
7.5 The Natural Orthogonal Complement......Page 327
7.5.1 Derivation of Constraint Equations and Twist–Shape Relations......Page 332
7.5.2 Noninertial Base Link......Page 337
7.6 Manipulator Forward Dynamics......Page 338
7.6.1 Planar Manipulators......Page 351
7.6.2 Algorithm Complexity......Page 356
7.6.3 Simulation......Page 360
7.7 Incorporation of Gravity into the Dynamics Equations......Page 363
7.8 The Modeling of Dissipative Forces......Page 364
7.9 Exercises......Page 367
8.2 Computation of Angular Velocity from Point-Velocity Data......Page 373
8.2.1 A Robust Formulation......Page 380
8.3 Computation of Angular Acceleration from Point-Acceleration Data......Page 382
8.3.1 A Robust Formulation......Page 389
8.4 Exercises......Page 390
9.2 The IDP of General Six-Revolute Manipulators......Page 395
9.2.1 Preliminaries......Page 397
9.2.2 Derivation of the Fundamental Closure Equations......Page 401
9.3.1 The Raghavan–Roth Procedure......Page 410
9.3.2 The Li–Woernle–Hiller Procedure......Page 418
9.4 The Bivariate-Equation Approach......Page 421
9.4.1 Numerical Conditioning of the Solutions......Page 423
9.5 Implementation of the Solution Method......Page 424
9.6.1 The Raghavan–Roth Procedure......Page 426
9.6.2 The Li–Woernle–Hiller Procedure......Page 427
9.6.3 The Bivariate-Equation Approach......Page 428
9.7 Examples......Page 430
9.8 Exercises......Page 438
10.2 Kinematics of Parallel Manipulators......Page 440
10.2.1 Velocity and Acceleration Analyses of Parallel Manipulators......Page 455
Planar and Spherical Manipulators......Page 459
10.3 Multifingered Hands......Page 461
10.4 Walking Machines......Page 466
10.5 Rolling Robots......Page 469
10.5.1 Robots with Conventional Wheels......Page 470
10.5.2 Robots with Omnidirectional Wheels......Page 476
10.6 Exercises......Page 480
11.1 Introduction......Page 483
11.2 Curve Geometry......Page 484
11.3 Parametric Path Representation......Page 490
11.4 Parametric Splines in Trajectory Planning......Page 504
11.5 Continuous-Path Tracking......Page 510
11.6 Exercises......Page 519
12.2 Classification of Robotic Mechanical Systems with Regard to Dynamics......Page 525
12.3 The Structure of the Dynamics Models of Holonomic Systems......Page 527
12.4 Dynamics of Parallel Manipulators......Page 530
12.5 Dynamics of Rolling Robots......Page 541
12.5.1 Robots with Conventional Wheels......Page 542
12.5.2 Robots with Omnidirectional Wheels......Page 552
12.6 Exercises......Page 561
Erratum......Page 565
Appendix A......Page 569
Appendix A Kinematics of Rotations: A Summary......Page 571
Appendix B Numerical Equation-Solving......Page 578
B.1 The Overdetermined Linear Case......Page 579
B.1.1 The Numerical Solution of an Overdetermined System of Linear Equations......Page 581
B.2 The Underdetermined Linear Case......Page 585
B.2.1 The Numerical Solution of an Underdetermined System of Linear Equations......Page 586
B.3 Nonlinear-Equation Solving: The Determined Case......Page 587
B.3.1 The Newton–Raphson Method......Page 589
B.4.1 The Newton–Gauss Method......Page 591
B.4.2 Convergence Criterion......Page 592
References......Page 595
Index......Page 604

2020-11-29