ロボット力学系の基礎（第４版） Fundamentals of Robotic Mechanical Systems〈4th ed. 2014〉 : Theory, Methods, and Algorithms（4）

著者名：Angeles, Jorge

Springer（2013/12/09発売）

• 言語：ENG
• ISBN：9783319018508
• eISBN：9783319018515

Description

The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.

Table of Contents

An Overview of Robotic Mechanical Systems.- Mathematical Background.- Fundamentals of Rigid-Body Mechanics.- Geometry of Decoupled Serial Robots.- Kinetostatics of Serial Robots.- Trajectory Planning: Pick-and-Place Operations.- Dynamics of Serial Robotic Manipulators.- Special Topics in Rigid-Body Kinematics.- Geometry of General Serial Robots.- Kinematics of Alternative Robotic Mechanical Systems.- Trajectory Planning: Continuous-Path Operations.- Dynamics of Complete Robotic Mechanical Systems.- Kinematics of Rotations: A Summary.- Numerical Equation-Solving.