fundamentals of robotic mechanical systems

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1、MechanicalEngineeringSeriesJorgeAngelesFundamentalsofRoboticMechanicalSystemsTheory,Methods,andAlgorithmsFourthEditionFundamentalsofRoboticMechanicalSystemsMechanicalEngineeringSeriesFrederickF.LingEditor-in-ChiefTheMechanicalEngineeringSeriesfeaturesgraduatetextsandresearchmonographstoaddress

2、theneedforinformationincontemporarymechanicalengineering,includingareasofconcentrationofappliedmechanics,biomechanics,computationalmechanics,dynamicalsystemsandcontrol,energetics,mechanicsofmaterials,processing,productionsystems,thermalscience,andtribology.AdvisoryBoard/SeriesEditorsAppliedMech

3、anicsD.GrossTechnicalUniversityofDarmstadtBiomechanicsV.C.MowColumbiaUniversityComputationalMechanicsH.T.YangUniversityofCalifornia,SantaBarbaraDynamicSystemsandControl/D.BryantMechatronicsUniversityofTexasatAustinEnergeticsJ.R.WeltyUniversityofOregon,EugeneProcessingK.K.WangCornellUniversityPr

4、oductionSystemsG.-A.KlutkeTexasA&MUniversityThermalScienceA.E.BerglesRensselaerPolytechnicInstituteTribologyW.O.WinerGeorgiaInstituteofTechnologyForfurthervolumes:http://www.springer.com/series/1161JorgeAngelesFundamentalsofRoboticMechanicalSystemsTheory,Methods,andAlgorithmsFourthEdition123Jor

5、geAngelesDepartmentofMechanicalEngineeringCentreforIntelligentMachines(CIM)McGillUniversityMontreal,QC,CanadaISSN0941-5122ISSN2192-063X(electronic)ISBN978-3-319-01850-8ISBN978-3-319-01851-5(eBook)DOI10.1007/978-3-319-01851-5SpringerChamHeidelbergNewYorkDordrechtLondonLibraryofCongressControlNum

6、ber:2013952913©SpringerInternationalPublishingSwitzerland2014Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyothe

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