Fundamentals of Robotic Mechanical Systems by Jorge Angeles

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. An extensive set of exercises is included. 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. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. 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. 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. Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator.

Fundamentals of Robotic Mechanical Systems by Jorge Angeles