McGill University
Department of Mechanical Engineering
MECH573 Mechanics of Robotic Systems
Angeles,
J., 2002, Fundamentals of Robotic Mechanical Systems. Theory, Methods, and
Algorithms, Second Edition, Springer-Verlag, New York.
| Description | Download (save first, then open) | |
| PDF/PS files | 1. Course outline --- Winter 2010 | outline100105.pdf |
| 2. Term Project: the path planning of a six-axis robot for the welding of two curved surfaces | TermProject2010w.pdf | |
| 3. Report guidelines | rep-guidelines100102.pdf | |
| 4. 2 files posted on Feb. 15, 2010 | CTest100211.pdf | |
| CT1soln100211.pdf | ||
| 5. Erratum in Page 361 | erratum-p361.pdf | |
| 6. Two solution files posted on Mar. 18, 2010 | solutions060805Apps1-3.pdf | |
| solutions060805pp123-139.pdf | ||
| Maple files | 1. Denavit-Hartenberg vectors & matrices | DH.mw |
| 2. Example 9.7.1- IDP of Fanuc Arc Mate | xple9-7-1.mw | |
| 3. 3 files posted on Feb. 04, 2010 | 8-angular-accelJDSMC87.mw | |
| axial-vector.mw | ||
| CPM.mw | ||
| 4. Inverse displacement analysis of DIESTRO | xple9-7-3.mw | |
| 5. Maple file regarding Table 9.1 | Table9-1-3rdEd.mw | |
| 6. 2 files posted on Mar. 16, 2010 | xple9-7-1CD.mw | |
| xple9-7-2CD.mw | ||
| Mpeg files | 1. Mekanum_RAD&AGV Animaiton (543Mb, view with a player supporting mpeg 2) | Mekanum_RAD_&_AGV.mpeg |
| 2. Near-minimum-time-trajectories for Pick-and-place Hoffman (156Mb, view with a player supporting mpeg 2) | Puma260_Near-minimun-time-trajectories.mpeg | |
| Matlab files | 1. A Trajectory for RVS4W | Trajectory4RVS4W-1.m |
| 2. Some files posted on Mar. 22, 2010 | MatlabFiles_IDP_Chapter9.zip | |
| Avi files | 1. PTPT Joint 1 | PTPTJointMapleNew1.avi |
| 2. PTPT Joint 2 | PTPTJointMapleNew2.avi |
Last updated by Vikram Chopra on 24/01/2006