كتاب Fundamentals of Robotic Mechanical Systems
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 كتاب Fundamentals of Robotic Mechanical Systems

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تاريخ التسجيل : 01/07/2009
العمر : 28
الدولة : مصر
العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
الجامعة : المنوفية

مُساهمةموضوع: كتاب Fundamentals of Robotic Mechanical Systems   السبت 04 يناير 2014, 1:30 pm

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Fundamentals of Robotic Mechanical Systems
Theory, Methods and Algorithms 2nd ed - J. Angeles (Springer, 2003)
Second Edition

Jorge Angeles


ويتناول الموضوعات الأتية :

acatastatic systems,
acceleration analysis
of parallel manipulators,
of rigid bodies,
of serial manipulators,
affine transformation,
AI (see artificial intelligence)
algorithm definition,
angle of rotation,
angular acceleration
computation,
invariant-rate relations,
matrix,
vector,
angular velocity
dyad,
invariant-rate relations, ,

matrix,
vector,
Appendix A,
Appendix B,
arc-welding, ,
operation,
path tracking,
architecture (manipulator -),
articulated-body method,
artificial intelligence, ,
ABB-IRB  robot, ,
axial component of a vector,
axial vector of a × matrix,
base frame,
basis of a vector space,
Bezout’s method,
bivariate-equation approach,
C,
C++,
Canadarm (see Canadarm)
Canadarm,
canonical form of a rotation,
Carausius morosus, ,
Cartesian coordinates
of a manipulator,
Cartesian decomposition,
caster wheel,

 Index
catastatic systems, ,
Cayley-Hamilton theorem,
Cayley’s theorem,
change of basis,
characteristic equation, , ,

characteristic length,
characteristic polynomial, ,
,
Chasles’ theorem (see Mozzi-Chasles’ theorem)
Chebyshev norm, ,
Cholesky-decomposition algorithm,
,
closure equations (manipulator -),

compatibility conditions
for acceleration,
for velocity,
composite rigid-body method,
composition of reflections and rotations,
condition number, ,
configuration of a manipulator,
continuous path, ,
operations,
tracking,
control vector, ,
coordinate transformation, –
CP (see continuous path)
Coriolis
acceleration,
Coriolis and centrifugal forces, ,

Couette flow,
Coulomb
dissipation function,
friction,
cross-product matrix,
curvature,
derivative w. r. t. a parameter,

derivative w. r. t. the arc length,

parametric representation, ,
time-derivative,
cycloidal motion,
Darboux vector,
time-derivative,
decoupled manipulators, ,
delta-array (∆-array), ,
Delta robot,
Denavit-Hartenberg
frames,
notation,
parameters,
rotation matrix, ,
vector joining two frame origins,
,
dexterity,
measures (see kinetostatic performance indices)
dextrous hands (see multifingered hands)
dextrous workspace,
dialytic elimination, ,
DH (see Denavit-Hartenberg)
DIESTRO manipulator, , ,
inverse kinematics, ,
Jacobian, ,
differentiation with respect to vectors, ,
direct kinematics problem
of parallel manipulators,
displacement equations of a manipulator,
dissipation
function, ,
dynamic systems,
dynamics
of holonomic systems,
of multibody systems,
of parallel manipulators,
of rigid bodies,
of robotic mechanical systems,
of rolling robots,
of serial manipulators,

Index
EE (see end-effector)
end-effector,
Euclidean norm,
Euler
angles, ,
equation (for graphs),
equation (in mechanics),
parameters (see Euler-Rodrigues
parameters)
Euler-Lagrange equations,
derived with the NOC, ,
Euler-Rodrigues parameters,
Euler’s
theorem,
formula for graphs (see Euler
equation for graphs)
Fanuc Arc Mate robot
characteristic length,
DH parameters,
inverse kinematics,
KCI,
First Law of Thermodynamics,
flight simulator, ,
floating-point operation, , ,

flop (see floating-point operation)
forward dynamics
of serial manipulators,
algorithm (using the NOC),
algorithm complexity,
Frenet (see Frenet-Serret)
Frenet-Serret
frame,
formulas,
vectors,
Frobenius norm,
friction forces, ,
fuzzy logic,
genealogy of robotic mechanical
systems, ,
generalized coordinates, ,
generalized forces, , ,
generalized inertia matrix,
Cholesky decomposition,
factoring,
time-rate of change, ,
generalized speeds, ,
gluing operation,
grasping matrix,
gravity
terms, ,
wrench,
hand-eye calibration,
Hexa robot,
holonomic systems, ,
homogeneous coordinates,
homotopy,
IKP (see inverse kinematics problem)
Index,
input, ,
inertia dyad, ,
instant screw axis,
instrument calibration,
intelligent machines, ,
intelligent robot,
invariance,
inverse dynamics
of serial manipulators,
recursive, ,
inverse kinematics problem
of a decoupled manipulator,
of a general R manipulator,
of parallel manipulators,
inverse vs. forward dynamics,
inward recursions, ,
ISA (see instant-screw axis)
isomorphism,
isotropic
manipulator,
matrix,

 Index
isotropy,
iteration, ,
Jacobian matrix
condition number,
evaluation,
invertibility,
of decoupled manipulators,
of serial manipulators,
transfer formula,
joint
coordinates, ,
parameters,
variables,
Kane’s method,
KCI (see kinematic conditioning index)
kernel of a linear transformation,
Kinemate,
kinematic
chain,
conditioning index,
constraints,
constraints for serial manipulators,
pair,
kinetostatic performance indices,

Lee’s manipulator,
Lee’s procedure,
Lee vs. Li,
left hand,
Li vs. Lee (see Lee vs. Li)
Li’s manipulator (see Lee’s manipulator)
linear invariants,
of a rotation,
linear transformations,
local structure of a manipulator,

lower kinematic pair,
LU decomposition,
machine (definition of),
main gauche(see left hand)
maneuverability,
manipulability,
of decoupled manipulators,
manipulator
angular velocity matrix,
architecture,
configuration,
dynamics, ,
kinematics,
mass matrix,
posture,
twist,
wrenches,
matrix representation,
norm,
mechanical system,
mechatronics,
minimum-time trajectory,
moment invariants,
moment of a line
about a point,
about another line,
moment of inertia,
momentum screw,
motor,
Mozzi-Chasles’ theorem,
MSS,
multibody system
dynamics,
Euler-Lagrange equations,
multicubic expression,
multifingered hands, ,
multilinear expression,
multiquadratic expression,
multiquartic expression,

Index
natural orthogonal complement,
applied to holonomic systems,
applied to parallel manipulators,

applied to planar manipulators,

applied to rolling robots, ,
Newton
equations,
-Euler algorithm,
methods, ,
-Raphson method, ,
NOC (see natural orthogonal complement)
nonholonomic systems, ,
noninertial base link,
norm (matrix -),
Also see Frobenius norm
normal component of a vector,
nullspace of a linear transformation,

numerical conditioning, ,
object-oriented programming,
Odetics series of hexapods,
ODW (see omnidirectional wheels)
off-line, , ,
omnidirectional wheels,
dynamics,
kinematics,
on-line,
operation point,
orientation problem,
orthogonal complement,
orthogonal decomposition of a vector,
orthogonal decoupled manipulator,

orthogonal projection,
orthogonal RRR manipulator
dynamics,
inverse kinematics, ,
recursive dynamics,
workspace,
OSU ASV,
OSU hexapod,
outward recursions,
Pappus-Guldinus theorems,
parallel axes, theorem of,
parallel manipulators,
acceleration analysis,
dynamics,
kinematics,
velocity analysis,
parametric
path representation,
representation of curvature,
representation of curvature derivative,
representation of torsion,
representation of torsion derivative,
splines,
path-tracking for arc-welding,
pick-and-place operations,
planar manipulators,
acceleration analysis,
displacement analysis,
dynamics,
static analysis,
velocity analysis,
platform manipulators, ,
Pl¨ucker coordinates (of a line),
transfer formula,
polar-decomposition theorem,
polynomial interpolation
with -- polynomial,
with --- polynomial,
pose (of a rigid body),
array,
positioning problem,
posture of a manipulator,
PPO (see pick-and-place operations)
Principle of Virtual Work,
prismatic pair, , ,

 Index
programmable robot,
projection,
Puma robot, ,
DH parameters,
inverse kinematics,
workspace,
pure reflection,
quaternions,
Raghavan and Roth’s procedure,

range of a linear transformation,
,
Rayleigh dissipation function (see
dissipation function)
real time, ,
reciprocal bases, , ,
redundant sensing,
References,
reflection, , ,
composition with rotations,
regional structure of a manipulator,

revolute pair,
rheonomic systems,
robotic hands,
robotic mechanical system, viii,
robotic system,
Rodrigues (see Euler-Rodrigues)
vector,
rolling robots,
dynamics,
kinematics,
rotations,
rotation matrix,
exponential representation,
RVS, xiii, ,
run-time,
Runge-Kutta method,
scleronomic systems,
screw
amplitude, , ,
axis, ,
axis coordinates, ,
motion,
pitch, ,
ray coordinates,
self-inverse,
semigraphical solution of the generalIKP,
serial manipulators,
acceleration,
dynamics,
kinematics,
statics, ,
velocity analysis,
workspace,
service angle,
similarity transformations,
simulation,
singular-value decomposition,
singular values,
singularity analysis of decoupled
manipulators,
SPDM,
spherical wrist, , ,
workspace,
spline(s),
natural,
nonparametric,
parametric,
periodic,
interpolation of --- polynomial,
square root of a matrix,
Star robot,
state
of parallel manipulators,
of serial manipulators, ,
variable, ,
-variable equations,
-variable model of platform
manipulators,
vector,

Index
static analysis
of rigid bodies,
of serial manipulators, ,
Stewart platform (see Stewart-Gough
platform)
Stewart-Gough platform, x, ,
direct kinematics,
leg kinematics,
structure of mechanical systems,
structured environment,
Sutherland, Sprout & Assoc.
Hexapod,
system,
telemanipulators,
tensors, , ,
Titan series of quadrapeds,
torsion,
derivative w. r. t. the arc length,

parametric representation, ,
time-derivative,
trace of a square matrix,
trajectories with via poses,
trajectory planning, ,
trapezoidal velocity profile,
truncation error,
Trussarm, ,
TU Munich Hand,
TU Munich Hexapod,
twist
of a rigid body,
transfer formula,
twist-shape relations,
for serial manipulators,
unimodular group (of matrices),
unstructured environment,
upper kinematic pair,
vector of a × matrix,
vector space,
velocity analysis
of parallel manipulators,
of rolling robots,
of serial manipulators,
via poses,
virtual work (see Principle of Virtual
Work)
viscosity coefficient,
viscous forces, ,
walking machines,
kinematics,
leg architecture, ,
walking stick,
workspace of positioning manipulators,
wrench
acting on a rigid body,
axis,
pitch,
transfer formula,


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