Mathematical Background
First and foremost, the study of motions undergone by robotic mechanical systems or, for that matter, by mechanical systems at large, requires a suitable motion representation. Now, the motion of mechanical systems involves the motion of the particular li
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Jorge Angeles
Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition
Fundamentals of Robotic Mechanical Systems
Mechanical Engineering Series Frederick F. Ling Editor-in-Chief
The Mechanical Engineering Series features graduate texts and research monographs to address the need for information in contemporary mechanical engineering, including areas of concentration of applied mechanics, biomechanics, computational mechanics, dynamical systems and control, energetics, mechanics of materials, processing, production systems, thermal science, and tribology.
Advisory Board/Series Editors Applied Mechanics Biomechanics Computational Mechanics
Dynamic Systems and Control/ Mechatronics Energetics Processing Production Systems Thermal Science Tribology
For further volumes: http://www.springer.com/series/1161
D. Gross Technical University of Darmstadt V.C. Mow Columbia University H.T. Yang University of California, Santa Barbara D. Bryant University of Texas at Austin J.R.Welty University of Oregon, Eugene K.K. Wang Cornell University G.-A. Klutke Texas A&M University A.E. Bergles Rensselaer Polytechnic Institute W.O. Winer Georgia Institute of Technology
Jorge Angeles
Fundamentals of Robotic Mechanical Systems Theory, Methods, and Algorithms Fourth Edition
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Jorge Angeles Department of Mechanical Engineering Centre for Intelligent Machines (CIM) McGill University Montreal, QC, Canada
ISSN 0941-5122 ISSN 2192-063X (electronic) ISBN 978-3-319-01850-8 ISBN 978-3-319-01851-5 (eBook) DOI 10.1007/978-3-319-01851-5 Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013952913 © Springer International Publishing Switzerland 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and re
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