Fundamentals of Robotic Mechanical Systems

Theory, Methods, and Algorithms

Jorge Angeles

576 pages, parution le 03/12/2002 (2^eme édition)

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Résumé

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). This new edition has been revised and updated throughout to include these new developments, and errors, inaccuracies, and infelicities of the previous edition have been corrected.

Contents

An Overview of Robotic Mechanical Systems
Mathematical Background
Fundamentals of Rigid-Body Mechanics
Kinetostatics of Simple Robotic Manipulators
Trajectory Planning: Pick-and-Place Operations
Dynamics of Serial Robotic Manipulators
Special Topics in Rigid-Body Kinematics
Kinematics of Complex Robotic Mechanical Systems
Trajectory Planning: = Continuous-Path Operations
Dynamics of Complex Robotic Mechanical Systems

A. Kinematics of Rotations : A summary
B. The Numerical Solution of Linear Algebraic Systems

L'auteur - Jorge Angeles

McGill University, Montreal, Canada

Caractéristiques techniques

	PAPIER
Éditeur(s)	Springer
Auteur(s)	Jorge Angeles
Parution	03/12/2002
Édition	2^eme édition
Nb. de pages	576
Format	16 x 24
Couverture	Relié
Poids	916g
Intérieur	Noir et Blanc
EAN13	9780387953687
ISBN13	978-0-387-95368-7