Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Mechanical Engineering Series) - Hardcover

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Fundamentals of Robotic Mechanical Systems, Third Edition addresses robots at large - such as multi-fingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. The author establishes the foundations on which the design, control, and implementation of the underlying mechanical subsystems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and linear transformations are reviewed in the first chapters, making the presentation self-contained.
Features of this book are:
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 of general serial and of parallel manipulators
dynamics of general parallel manipulators of the platform type
kinematics and dynamics of rolling robots
This edition has been reorganized and includes new exercises as well as new photographs and all material have been updated where appropriate.