Angeles J. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

Second edition. — Springer, 2003. — xxiii, 523 p. — (Mechanical Engineering Series). — ISBN 0-387-95368-X.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 newAn Overview of Robotic Mechanical Systems.The General Structure of Robotic Mechanical Systems.
Serial Manipulators.
Parallel Manipulators.
Robotic Hands.
Walking Machines.
Rolling Robots.
Mathematical Background.
Preamble.
Linear Transformations.
Rigid-Body Rotations.
Composition of Reflections and Rotations.
Coordinate Transformations and Homogeneous Coordinates.
Similarity Transformations.
Invariance Concepts.
Fundamentals of Rigid-Body Mechanics.General Rigid-Body Motion and Its Associated Screw.
Rotation of a Rigid Body About a Fixed Point.
General Instantaneous Motion of a Rigid Body.
Acceleration Analysis of Rigid-Body Motions.
Rigid-Body Motion Referred to Moving Coordinate Axes.
Static Analysis of Rigid Bodies.
Dynamics of Rigid Bodies.
Kinetostatics of Simple Robotic Manipulators.The Denavit-Hartenberg Notation.
The Kinematics of Six-Revolute Manipulators.
The IKP of Decoupled Manipulators.
Velocity Analysis of Serial Manipulators.
Acceleration Analysis of Serial Manipulators.
Static Analysis of Serial Manipulators.
Planar Manipulators.
Kinetostatic Performance Indices.
Trajectory Planning: Pick-and-Place Operations.Background on PPO.
Polynomial Interpolation.
Cycloidal Motion.
Trajectories with Via Poses.
Synthesis of PPO Using Cubic Splines.
Dynamics of Serial Robotic Manipulators.Inverse vs. Forward Dynamics.
Fundamentals of Multibody System Dynamics.
Recursive Inverse Dynamics.
The Natural Orthogonal Complement in Robot Dynamics.
Manipulator Forward Dynamics.
Incorporation of Gravity Into the Dynamics Equations.
The Modeling of Dissipative Forces.
Special Topics in Rigid-Body Kinematics.Computation of Angular Velocity from Point-Velocity Data.
Computation of Angular Acceleration from Point-Acceleration Data.
Kinematics of Complex Robotic Mechanical Systems.The IKP of General Six-Revolute Manipulators.
Kinematics of Parallel Manipulators.
Multifingered Hands.
Walking Machines.
Rolling Robots.
Trajectory Planning: Continuous-Path Operations.Curve Geometry.
Parametric Path Representation.
Parametric Splines in Trajectory Planning.
Continuous-Path Tracking.
Dynamics of Complex Robotic Mechanical Systems.Classification of Robotic Mechanical Systems with Regard to Dynamics.
The Structure of the Dynamics Models of Holonomic Systems.
Dynamics of Parallel Manipulators.
Dynamics of Rolling Robots.
Kinematics of Rotations: A Summary.
The Numerical Solution of Linear Algebraic Systems.
Exercises.