Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms

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The beginnings of modern robotics can be traced back to the late 1960s with the advent of the microprocessor, which made possible the computer control of a multiaxial manipulator. Since those days, robotics has evolved from a technology developed around this class of manipulators for the replaying of a preprogrammed task to a multidiscipline encompassing many branches of science and engineering. Research areas such as computer vision, artificial intelligence, and speech recognition play key roles in the development and implementation of robotics; these are, in turn, multidiscipline supported by computer science, electronics, and control, at their very foundations. download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf. for more free ebooks click here

Thus we see that robotics covers a rather broad spectrum of knowledge, the scope of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf being only a narrow band of this spectrum, as outlined below. Contemporary robotics aims at the design, control, and implementation of systems capable of performing a task defined at a high level, in a language resembling those used by humans to communicate among themselves.

Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition

Moreover, robotic systems can take on forms of all kinds, ranging from the most intangible, such as interpreting images collected by a space sound, to the most concrete, such as cutting tissue in a surgical operation. We can, therefore, notice that motion is not essential to a robotic system, for this system is meant to replace humans in many of their activities, moving being but one of them. However, since robots evolved from early programmable manipulators, one tends to identify robots with motion and manipulation. Certainly, robots may rely on a mechanical system to perform their intended tasks.

When this is the case, we can speak of robotic mechanical systems, which are the subject of this download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf. These tasks, in turn, can be of a most varied nature, mainly involving motions such as manipulation, but they can also involve locomotion.

Moreover, manipulation can be as simple as displacing objects from a belt conveyor to a magazine. On the other hand, manipulation can also be as complex as displacing these objects while observing constraints on both motion and force, e.g., when cutting live tissue of vital organs. We can, thus, distinguish between plain manipulation and dexterous manipulation. Furthermore, manipulation can involve locomotion as well. The task of a robotic mechanical system is, hence, intimately related to motion control, which warrants a detailed study of mechanical systems as elements of a robotic system.

download free  Robotic books preface

The aim of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf can, therefore, be stated as establishing the foundations on which the design, control, and implementation of robotic mechanical systems are based. The book evolved from sets of lecture notes developed at McGill University over the last 12 years, while I was teaching a two-semester sequence of courses on robotic mechanical systems. For this reason, the book comprises two parts-an introductory
and an intermediate part on robotic mechanical systems.

Advanced topics, such as redundant manipulators, manipulators with flexible links and joints, and force control, are omitted. The feedback control of robotic mechanical systems is also omitted, although the book refers the reader, when appropriate, to the specialized literature. An aim of the book is to serve as a textbook in a l-year robotics course; another aim is to serve as a reference to the practicing engineer. The book assumes some familiarity with the mathematics taught in any engineering or science curriculum in the first 2 years of college. Familiarity with elementary mechanics is helpful, but not essential, for the elements of this science needed to understand the mechanics of robotic systems are covered in the first three chapters, thereby making the book self-contained.

These three chapters, moreover, are meant to introduce the reader to the notation and the basics of mathematics and rigid-body mechanics needed in the study of the systems at hand. The material covered in the same chapters can thus serve as reading material for a course on the mathematics of robotics, intended for sophomore students of science and engineering, prior to a more formal course on robotics.

chapters of robotic e books

The first chapter of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf is intended to give the reader an overview of the subject matter and to highlight the major issues in the realm of robotic mechanical systems. Chapter 2 is devoted to notation, nomenclature, and the basics of linear transformations to understand best the essence of rigid-body kinematics, an area that is covered in great detail throughout the book. A unique feature of this chapter is the discussion of the hand-eye calibration problem: Many a paper has been written in an attempt to solve this fundamental problem, always leading to a cumbersome solution that invokes nonlinear-equation solving, a task that invariably calls for an iterative procedure; moreover, within each iteration, a singular-value decomposition, itself iterative as well, is required.

In Chap. 2 of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf , a novel approach is introduced, which resorts to invariant properties of rotations and leads to a direct solution, involving straightforward matrix and vector multiplications.

Chapter 3 reviews, in turn, the basic theorems of rigid-body kinetostatics and dynamics. The viewpoint here represents a major departure from most existing books on robotic manipulators: proper orthogonal matrices can be regarded as coordinate transformations indeed, but they can also be regarded as representations, once a coordinate frame has been selected, of rigid-body rotations.

Chapter 4 is the first chapter entirely devoted to robotic mechanical systems, properly speaking. Furthermore, Chap. 5 is devoted to the topic of trajectory planning, while limiting its scope to problems suitable to a first course on robotics; this chapter thus focuses on pick-and-place operations. Chapter 6, moreover, introduces the dynamics of robotic manipulators of the serial type.

download free Fundamentals of Robotic Mechanical Systems

Chapter 7 is devoted to the increasingly important problem of determining the angular velocity and the angular acceleration of a rigid body, when the velocity and acceleration of a set of its points are known.

If time constraints so dictate, this chapter can be omitted, for it is not needed in the balance of the book. The formulation of the inverse kinematics of the most general robotic manipulator of the serial type, leading to a univariate polynomial of the 16th degree, not discussed in previous books on robotics, is included in Chap. 8. of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf Likewise, the direct kinematics of the platform manipulator popularly known as the Stewart platform, ak.a. the Stewart-Gough platform, leading to a 1óth-degree monovarietal polynomial, is also given due attention in this chapter.

With this approach, the underlying multivariate algebraic system of equations is reduced to a system of two nonlinear bivariate equations that are trigonometric rather than polynomial. Each of these two equations, then, leads to a contour in the plane of the two variables, the desired solutions being found as the coordinates of the intersections of the two contours. Discussed in Chap. 9 is the problem of trajectory planning as pertaining to continuous paths. Finally, Chap. 10  of download free Fundamentals of Robotic Mechanical Systems : Theory , Methods , and Algorithms , author : Jorge Angeles 4th edition book as pdf completes the discussion initiated in Chap. 6, with an outline of the dynamics of parallel manipulators and rolling robots.

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