Fundamentals of Robotic Mechanical Systems   / Angeles, Jorge.; . -- 4th ed. -- Cham :Springer International Publishing :;Imprint: Springer,2014.

xxiii, 589 p.

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.

ISBN 9783319018515