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Refereed Publications in Research Journals

  1. Alizadeh, D., Ma, X.Q. and Angeles, J., 2011, “On the reduction of the normality conditions in equality-constrained optimization problems in mechanics, ” to appear in Meccanica.
  2. Azimi, A., Hirschkorn, M., Ghotbi, B., Kvecses, J., Angeles, J., Radziszewski, P., Teichmann, M., Courchesne, M., Gonthier, Y., 2011, “Terrain modelling in simulation-based performance evaluation of rovers, ” Canadian Aeronautics and Space Journal, Vol. 57, No. 1, pp. 1-10.
  3. Figliolini G. and Angeles J., 2011, “Synthesis of the Pitch Cones of N-Lobed Elliptical Bevel Gears, ” ASME J. Mechanical Design, vol. 133, No. 3, pp. 031002-1-031002-8.
  4. Khan, W.A. and Angeles, J., 2011, “A novel paradigm for the qualitative synthesis of simple kinematic chains based on complexity measures, ” ASME Journal of Mechanisms and Robotics, Vol. 3, No. 3, pp. 031010-1-031010-11.
  5. Carbone, G., Cannella, G. and Angeles, J., 2011, “Derivation of the Mass Matrix for the McGill Schönflies motion generator, ” Mechanics Based Design of Structures and Machines, Vol. 39(2), pp. 159-178.
  6. Gracia, L. and Angeles, J., 2011, “Robustness to algorithmic singularities and sensitivity in computational kinematics, ” Proc. IMechE, Part C, J. Mechanical Engineering Science, Vol. 25, No. 4, pp. 987-999.
  7. Al-Widyan, K., Ma, X.Q. and Angeles, J., 2011, “The robust design of parallel spherical robots,” Mechanism and Machine Theory Vol. 46, pp. 335-343.
  8. Angeles, J., 2010, “On the Nature of the Cartesian Stiffness Matrix,” Revista de la Sociedad Mexicana de Ingeniería Mecánica, Vol. 3, No. 5, pp. 163-170. Available at http://revistasomim.net/.
  9. Desrochers, S., Pasini, D. and Angeles, J., 2010, “Optimum design of a compliant uniaxial accelerometer,”ASME J. Mechanical Design,Vol. 132, No. 4, pp. 041011-1-041011-8.
  10. Ossino, A., Barnett, E., Angeles, J., Pasini, D. and Sijpkes, P., 2010, “Path planning for robot-assisted rapid prototyping of ice structures,” CSME Transactions, Vol. 33, No. 4, pp. 689-700.
  11. Cammarata, A., Angeles, J. and Sinatra, R., 2010, “Kinetostatic and inertial conditioning of the McGill Schönflies-motion generator,” Advances in Mechanical Engineering, Vol. 2010, Article ID 186203, DOI: 10.1155/2010/186203.
  12. Caro, S., Khan, W.A., Pasini, D. and Angeles, J., 2010, “The rule-based conceptual design of the architecture of serial Schönflies-motion generators,” Mechanism and Machine Theory, Vol. 45(2), pp. 251-260.
  13. Bai, S., Hansen, M.R. and Angeles, J., 2009, “A robust forward-displacement analysis of spherical parallel robots,” Mechanism and Machine Theory, Vol. 44, pp. 2204-2216.
  14. Bai, S. and Angeles, J., 2009, “The design of spherical multilobe-cam mechanisms,” Proc. IMechE, Part C: J. Mechanical Engineering Science, Vol. 223(C2), pp. 473-482.
  15. Cardou, P. and Angeles, J., 2009, “Linear estimation of the rigid-body acceleration field from point-acceleration measurements,” ASME J. Dynamic systems, Measurement, and Control, Vol. 131, pp. 041013-1-041013-10.
  16. Oryschuk, P., Salerno, A., Al-Husseini, A. M. and Angeles, J., 2009, “Experimental validation of an underactuated two-wheeled mobile robot,” IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 2, pp. 252-257.
  17. Altuzarra, O., Salgado, O., Hernandez, A. and Angeles, J., 2009, “Multiobjective optimum design of a symmetric parallel Schönflies-motion generator,” ASME Journal of Mechanical Design, Vol. 131, No. 3, pp. 031002-1-031002-11.
  18. Cammarata, A., Angeles, J., and Sinatra, R., 2009, “The dynamics of parallel Schönflies motion generators: the case of a two-limb system,” Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering, Vol. 223, No. 11, pp. 29-52.
  19. Gauthier, J.-F., Angeles, J., Nokleby, S. and Morozov, A., 2009, “The kinetostatic conditionning of two-limb Schönflies motion generators,” ASME Journal of Mechanisms and Robotics, Vol. 1, No. 1, pp. 011010-1-011010-12.
  20. Cardou, P., Pasini, D. and Angeles, J., 2008, “Lumped elastodynamic model for MEMS: formulation and validation,” IEEE/ASME J. Microelectromechanical Systems, Vol. 17, No. 4, pp. 948-961.
  21. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2008, “Generalization of the energetic coefficient of restitution for contacts in multibody systems,” ASME J. of Computational and Nonlinear Dynamics, Vol. 3, pp. 041008-1-041008-14.
  22. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2008, “Impacts in multibody systems: modeling and experiments,” Multibody System Dynamics, Vol. 20, pp. 163-176.
  23. Chen, C. and Angeles, J., 2008, “A novel family of linkages for advanced motion synthesis,” Mechanism and Machine Theory, Vol. 43, pp. 882-890.
  24. Cardou, P. and Angeles, J., 2008, “Estimating the angular velocity of a rigid body moving in the plane from tangential and centripetal acceleration measurements,” Multibody System Dynamics, Vol. 19, No. 4, pp. 383-406.
  25. Teng, C. P., Bai, S. and Angeles, J., 2008, “Shape synthesis in mechanical design,” Acta Polytechnica, Vol. 47, No. 6, pp. 56-62.
  26. Cardou, P. and Angeles, J., 2008, “Angular velocity estimation from the angular acceleration matrix,” ASME J. of Applied Mechanics, Vol. 75, pp. 021003-1-021003-8.
  27. Bai, S. P. and Angeles, J., 2008, “A unified input-output analysis of four-bar linkages,” Mechanism and Machine Theory, Vol. 43, pp. 240-251.
  28. Chen, C., Bai, S. P. and Angeles, J., 2008, “A comprehensive solution of the classic Burmester problem,” CSME Transactions, Vol. 32, No. 2, pp. 137-154.
  29. Chen, C., Bai, S. P. and Angeles, J., 2008, “The synthesis of dyads with one prismatic joint,” ASME J. of Mechanical Design, Vol. 130, pp. 034501-1-034501-6.
  30. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2007, “Energy analysis and decoupling in three-dimensional impacts of multibody systems,” ASME J. of Applied Mechanics, Vol. 74, pp. 845-851.
  31. Kövecses, J. and Angeles, J., 2007, “The stiffness matrix in elastically articulated rigid-body systems,” Multibody System Dynamics, Vol. 18, pp. 169-184.
  32. Larochelle, P., Murray, A. and Angeles, J., 2007, “A distance metric for finite sets of rigid-body displacements via the polar decomposition,” ASME J. of Mechanical Design, Vol. 129, pp. 883-886.
  33. Chen, C., Zhang, X. and Angeles, J., 2007, “Kinematic and geometric analysis of a pure-rolling epicyclic train,” Journal of Mechanical Design, Vol. 129, No. 8, pp. 852-857.
  34. Nasrallah, D., Angeles, J. and Michalska, H., 2007, “Controllability and posture control of a wheeled pendulum moving on an inclined plane,” IEEE Transactions on Robotics, Vol. 23, No. 3, pp. 564-577.
  35. Figliolini, G. Stachel, H. and Angeles, J., 2007, “A new look at the Ball-Disteli diagram and its relevance to spatial gearing,” Mechanism and Machine Theory, Vol. 42, pp. 1362-1375.
  36. Chen, C. and Angeles, J., 2007, “Generalized transmission index and transmission quality for spatial linkages,” Mechanism and Machine Theory, Vol. 42, pp. 1225-1237.
  37. Theingi, Chen, I.-M., Angeles, J. and Li, C., 2007, “Management of parallel-manipulator singularities using joint-coupling,” Advanced Robotics, Vol. 21, No. 5-6, pp. 583-600.
  38. Salerno, A., and Angeles, J., 2007, “A new family of two-wheeled mobile robots: modeling and controllability,” IEEE Transactions on Robotics, Vol. 23, No. 1, pp.169-173.
  39. Chen, C., and Angeles, J., 2007, “Optimum kinematic design of drives for wheeled mobile robots based on cam-roller pairs,” Journal of Mechanical Design, Vol. 129, pp. 7-16.
  40. Chen, C., and Angeles, J., 2007, “Virtual-power flow and mechanical gear-mesh power losses of epicyclic gear trains,” Journal of Mechanical Design, Vol. 129, pp. 107-113.
  41. Morozov, A. and Angeles, J., 2007, “The mechanical design of a novel Schönflies-motion generator,” Robotics and Computer-Integrated Manufacturing, Vol. 23, pp. 82-93.
  42. Chen, C. and Angeles, J., 2006, “Undercutting on cam profiles,” Transactions of the CSME, Vol. 30, No. 3, pp. 443-458.
  43. Angeles, J., Caro, S., Khan, W., Morozov, A., 2006, “The kinetostatic design of an innovative Schönflies-motion generator,” in Proc. Inst. Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, Vol. 220, No. 7, pp. 935-943.
  44. Chablat, D. and Angeles, J., 2006, “Stratégies de conception pour optimiser la transmission Slide-o-cam,” Mécanique et Industries, Vol. 7, pp. 301-309.
  45. Figliolini, G., Rea, P., and Angeles, J., 2006, “The pure-rolling cam-equivalent of the Geneva mechanism,” Mechanism and Machine Theory, Vol. 41, pp. 1320-1335.
  46. Angeles, J., 2006, “Is there a characteristic length of a rigid-body displacement?,” Mechanism and Machine Theory, Vol. 41, pp. 884-896.
  47. Chablat, D. and Angeles, J., 2006, “The design of a novel prismatic drive for a three-DOF parallel-kinematics machine,” ASME J. Mechanical Design, Vol. 128, No. 4, pp. 710-718.
  48. Figliolini, G. and Angeles, J., 2006, “The synthesis of the pitch surfaces of internal and external skew-gears and their racks,” ASME J. Mechanical Design, Vol. 128, No. 4, pp. 794-802.
  49. Hernandez, S., Bai, S.P. and Angeles J., 2006, “The design of a chain of spherical Stephenson mechanisms for a gearless robotic pitch-roll wrist,” ASME J. Mechanical Design, Vol. 128,  pp. 422-429.
  50. Zou, P. and Angeles, J., 2006, “Kinematics of a 4-DOF bipod parallel grinder,” Key Engineering  Materials, Vols. 304 & 305, pp. 431-435.
  51. Khan, W.A., and Angeles, J., 2006, “The kinetostatic optimization of robotic manipulators: the inverse and the direct problems,” ASME J. Mechanical Design, Vol. 128,  pp. 168-178.
  52. Chen, C. and Angeles, J., 2005, “Force-and-motion-transmission evaluation in spatial mechanisms,” Trans. Can. Soc. Mech.Eng., vol. 29, Special Edition, pp. 527-539.
  53. Khan, W.A., Krovi, V., Saha, S.K. and Angeles, J., 2005, “Recursive kinematics and inverse dynamics for a planar 3R parallel manipulator,” ASME J. Dyn. Systs., Meas., and Control, vol. 127, No. 4, pp. 529-536.
  54. Khan, W.A., Krovi, V., Saha, S.K. and Angeles, J., 2005, “Modular and recursive kinematics and dynamics for parallel manipulators,” Multibody System Dynamics, vol. 14, pp. 419-455.
  55. Parsa, K., Angeles, J. and Misra, A.K., 2005, “Control of macro-micro manipulators revisited,” ASME J. Dynamic Systems, Measurement, and Control, Vol. 27 (4), pp. 688-699.
  56. Figliolini, G. and Angeles, J., 2005, “Synthesis of the base curves for n-lobes elliptical gears,” ASME J. Mechanical Design, Vol. 127, No. 5, pp. 997-1005.
  57. Figliolini, G. and Angeles, J., 2005, “Algorithms for involute and Octoidal bevel-gear generation,” ASME J. Mechanical Design, Vol. 137, No. 5, pp. 664-672.
  58. Parsa, K., Angeles, J. and Misra, A.K., 2005, “Estimation of the flexural states of a macro-micro manipulator using point-acceleration data,” IEEE Transactions on Robotics, Vol. 21, No. 4, pp. 565-573.
  59. Al-Widyan, K. and Angeles, J.,  2005,  “A model-based formulation of robust design,”   ASME J. Mechanical Design, Vol. 127, pp.388-396.
  60. Teng, C.P. and Angeles, J., 2005, “An optimality criterion for the structural optimization of machine elements,”  ASME J. Mechanical Design, Vol. 127,  pp. 415–423.
  61. Angeles, J., 2005, “An innovative drive for wheeled mobile robots,”  IEEE/ASME Transactions on Mechatronics, Vol. 10, No. 1, pp. 43-49.
  62. Parsa, K., Angeles, J., and Misra, A.K., 2004, “Rigid-body pose and twist estimation using an accelerometer array,” Archive of Applied Mechanics, Vol. 74, No. 3-4, pp. 223-236.
  63. Montagnier, P., Spiteri, R. and Angeles, J., 2004, “The control of linear time-periodic systems using Floquet-Lyapunov theory,” Int. J. Control, Vol. 77, No. 5, pp.472-490.
  64. Angeles, J.,   2004, “The qualitative synthesis  of parallel manipulators,” ASME J. Mechanical Design, Vol. 126, No. 4, pp. 617-624.
  65. Zhang W. and Angeles, J., 2004, “A parametric study of planar cam-roller speed reducers,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 263-275.
  66. Ostrovskaya, S. and Angeles, J., 2004, “The kinematics of mobile robots with orientable single and dual wheels rolling on a plane,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 251-262.
  67. Chen C. and Angeles, J., 2004, “The conceptual design of epicyclic cam trains,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 125-138.
  68. Asokan, T., Seet, G. and Angeles, J., 2003,  “The optimum dimensioning of an underwater manipulator for weld inspection,” Proc. IMechE Journal of Engineering for the Maritime Environment, Vol. 217, pp. 177-184.
  69. Figliolini, G. and Angeles, J., 2003, “The synthesis of elliptical gears generated by shaper-cutters,” ASME J. Mechanical Design, Vol. 125, pp. 793-801.
  70. Angeles, J., Yang, G. and Chen, I-M., 2003, “Singularity analysis of three-legged, six-dof platform manipulators with URS legs,” IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 4,  pp. 469–475.
  71. Al-Widyan, K., Angeles, J.  and Ostrovskaya, S., 2003, “A robust simulation algorithm for conservative linear mechanical systems,”  International Journal for Multiscale Computational Engineering, Vol. 1, pp. 289–309.
  72. Angeles, J., 2003, “The design of a three-axis positioning manipulator for a given reach,” Ingeniería Mecánica, Vol. 1, No. 2, pp. 35–41.
  73. Chablat, D. and Angeles, J., 2003, “The computation of all 4R serial spherical wrists with an isotropic architecture,” ASME J. Mechanical Design, Vol. 125, No. 2, pp. 275–280.
  74. Sinatra, R. and Angeles, J., 2003, “A novel approach to the teaching of planar mechanism dynamics. A case study,” The International Journal of Mechanical Engineering Education, Vol. 31, No. 3, pp. 201-214. 
  75. González-Palacios, M. and Angeles, J., 2003,  “The design of a novel pure-rolling transmission to convert rotational into translational motion,” ASME J. Mechanical Design, Vol. 125, pp. 205-207
  76. Figliolini, G. and Angeles, J., 2002,  “Synthesis of conjugate Geneva mechanisms with curved slots,” Mechanism and Machine Theory, Vol.37, No. 10, pp. 1043-1061
  77. Angeles, J. and Ostrovskaya, S., 2002, “The proportional-damping matrix of arbitrarily-damped linear mechanical systems,” ASME J. of Applied Mechanics, Vol. 69, pp. 649--656.
  78. Chablat, D. and Angeles, J., 2002, “On the kinetostatic optimization of revolute-coupled planar manipulators,” Mechanism and Machine Theory, Vol. 37, No. 4, pp. 351-374.
  79. Teng, C. P. and Angeles, J., 2001, “A sequential-quadratic-programming algorithm using orthogonal decomposition with Gerschgorin stabilization,” in ASME J. of Mechanical Design, Vol. 123, pp. 501-509.
  80. Cervantes-Sánchez, J. J., Hernandez-Rodriguez, J. C. and Angeles, J., 2001, “On the kinematic design of the 5R planar, symmetric manipulator,” Mechanism and Machine Theory, Vol. 36, No. 12, pp. 1301-1313.
  81. Yang, G., Chen, I-M., Lin, W. and Angeles, J., 2001, “Singularity analysis of three-legged parallel robots based on passive-joint velocities,” IEEE Transactions on Robotics and Automation, Vol. 17, No. 4, pp. 413-422.
  82. Navarro, O., Wu, C.-J. and Angeles, J., 2001, “The size-minimization of planar cam mechanisms,” Mechanism and Machine Theory, Vol. 36. pp. 371-386.
  83. Montagnier, P., Spiteri, R. and Angeles, J., 2001, “Pitfalls of a least-squares-equivalent controller for linear, time-periodic systems,” International Journal of Control, Vol. 74, No. 2, pp. 199-204.
  84. Lange, C., Ranjbaran, F., Angeles, J. and Goritschnig, 2001, “Dynamics of the swashplate mechanism of a VTOL unmanned aerial vehicule,” Multibody System Dynamics, Vol. 5, No. 2, pp. 105-131.
  85. Wu, C.-J and Angeles, J., 2001, “The optimum synthesis of an elastic torque-compensatimg cam mechanism,” Mechanism and Machine Theory, Vol. 36, pp. 245-249.
  86. Angeles, J., Soucy, G. and Ferrie, F., 2000, “The online solution of the hand-eye problem,”  IEEE Transactions on Robotics and Automation, Vol.  16, No. 6, pp. 720-731.
  87. Baron, L. and Angeles, J., 2000, “The kinematic decoupling of parallel manipulators using joint-sensor data,” IEEE  Transactions on Robotics and Automation., Vol.  16, No. 6, pp. 644-651.
  88. Baron, L. and Angeles, J., 2000, “The direct kinematics of parallel manipulators under joint-sensor redundancy,” IEEE Transactions on Robotics and Automation, Vol. 16, No. 1, pp. 12-19.
  89. Yao, J. and Angeles, J., 2000, “The kinematic synthesis of steering mechanisms,” Transactions of the CSME, Vol. 24, No. 3 & 4, pp. 453-475.
  90. Yao, J. and Angeles, J., 2000, “Computation of all optimum dyads in the approximate synthesis of planar linkages for rigid-body guidance,” Mechanism and Machine Theory, Vol. 35, No. 8, pp. 1065-1078.
  91. Ostrovskaya, S., Angeles, J. and Spiteri, R., 2000, “Dynamics of a mobile robot with three ball-wheels,” The International Journal of Robotics Research, Vol. 19, No. 4, pp. 383-393.
  92. González-Palacios, M. and Angeles, J., 1999, “The design of a novel mechanical transmission for speed reduction,” ASME J.  of Mechanical Design, Vol. 121, no. 4, pp. 538-543
  93. Angeles, J., Etemadi Zanganeh, K. and Ostrovskaya, S., 1999, “The analysis of arbitrarily-damped linear mechanical systems,” Archive of Applied Mechanics, Vol. 69, No. 8, pp. 529-541.
  94. Lange, C., Ranjbaran, F., Angeles, J. and Goritschnig, G., 1999, “The kinematics of the swashplate mechanism of a VTOL unmanned aerial vehicle,” Multibody System Dynamics, Vol. 3, No. 4, pp. 333-365.
  95. Bulca, F., Angeles, J. and Zsombor-Murray, P. J., 1999, “On the workspace determination of spherical serial and platform mechanisms,” Mechanism and Machine Theory, Vol. 34, pp. 497-512.
  96. Angeles, J., 1999, “The angular-acceleration tensor of rigid-body kinematics and its properties,” Archive of Applied Mechanics, Vol. 69, No. 3, pp. 204-214.
  97. Cho, K. S., Hori N. and Angeles, J., 1998, “Feedback control of planar linkages using a linearizing filter: theory and experiments,” Multibody System Dynamics, Vol. 2, No. 3, pp. 253-276.
  98. Cho, K. S. Hori, N. and Angeles, J., 1998, “A robust model for the discretization of flexible links based on cubic splines,” Computer Modeling and Simulation in Engineering, Vol. 3, No. 4, pp. 235-243.
  99. Etemadi Zanganeh, K. and Angeles, J., 1998, “A formalism for the analysis and design of modular kinematic structures,” The International J. of Robotics Research, Vol. 17, No. 7, pp. 720-730.
  100. Ostrovskaya, S. and Angeles, J., 1998, “Nonholonomic systems revisited within the framework of analytical mechanics,” Applied Mechanics Reviews, Vol. 51, No. 7, pp. 415-433.
  101. Etemadi Zanganeh, K., Sinatra, R. and Angeles, J., 1997, “Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs,” Robotica, Vol. 15, pp. 385-394.
  102. Etemadi Zanganeh, K. and Angeles, J., 1997, “Kinematic isotropy and the optimum design of parallel manipulators,” The International J. of Robotics Research, Vol. 16, No 2, pp. 185-197.
  103. Fattah, A., Angeles, J. and Misra, K., 1997, “Dynamics of two cooperating flexible-link manipulators-planar case,” Transactions of the CSME, Vol. 21, No 1, pp. 1-17.
  104. Khader, K., Angeles, J., Moustafa, M., El-Shakery, S. and Abou-Elnasr, R. 1996, “The synthesis of a multi-step cam mechanism to drive a shaking belt conveyor,” Mechanism and Machine Theory, Vol. 31, No 7, pp. 913-924.
  105. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., 1996, “Direct kinematics of double-triangular parallel manipulators,” Mathematica Pannonica, Vol. 7, No. 1, pp. 79-96.
  106. Etemadi Zanganeh, K. and Angeles, J., 1995, “Instantaneous kinematics of general hybrid parallel manipulators,” ASME J.  of Mechanical Design, Vol. 117, No. 4, pp. 581-588.
  107. Mohammadi Daniali, H. R. Zsombor-Murray, P. J. and Angeles, J., 1995, “The kinematics of spatial double-triangular parallel manipulators,” ASME J. of Mechanical Design, Vol. 117, No. 4, pp. 658-661.
  108. Etemadi Zanganeh, K. and Angeles, J., 1995, “Real-time direct kinematics of general six-degree-of-freedom parallel manipulators with minimum-sensor data,” Journal of Robotic Systems, Vol. 12, No. 12, pp. 833-844.
  109. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., 1995, “The isotropic design of two general classes of planar parallel manipulators,” Journal of Robotic Systems, Vol. 12, No. 12, pp. 795-805.
  110. Saha, S. K., Angeles, J. and Darcovich, J., 1995, “The design of kinematically isotropic rolling robots with omnidirectional wheels,” Mechanism and Machine Theory, Vol. 30, No. 8, pp. 1127-1137.
  111. Ranjbaran, F., Angeles, J., González-Palacios, M. A. and Patel, R. V., 1995, “The mechanical design of a seven-axes manipulator with kinematic isotropy,” Journal of Intelligent & Robotic Systems, Vol. 14, No. 1, pp. 21-41.
  112. Mohammadi Daniali,  H. R.,  Zsombor-Murray, P. J. and Angeles, J., 1995, “Singularity analysis of planar parallel manipulators,” Mechanism and Machine Theory, Vol. 30, No. 5, pp. 665-678.
  113. Fattah, A., Misra K. A. and Angeles, J., 1995, “Modelling and simulation of planar mechanical systems with flexible links and multiple kinematic loops,” Machine Vibration, Vol. 3, No. 3, pp. 130-137.
  114. Liu, Z. and Angeles, J., 1994, “Optimization of planar, spherical and spatial function generators using input-output curve planning,” ASME J. of Mechanical Design, Vol. 116, No. 3, pp. 915-919.
  115. Al-Daccak, M., Angeles, J. and González-Palacios, M. A., 1994, “The modeling of bevel gears using the exact spherical involute,” ASME J. of Mechanical Design, Vol. 116, No. 2, pp. 364-368.
  116. González-Palacios, M. A. and Angeles, J., 1994, “The generation of contact surfaces of indexing cam mechanisms. A unified approach,” ASME J. of Mechanical Design, Vol. 116, No. 2, pp. 369-374.
  117. Tandirci, M., Angeles, J. and Darcovich, J., 1994, “On rotation representations in computational robot kinematics,” Journal of Intelligent and Robotic Systems, Vol. 9, No. 1, pp. 5-23.
  118. Angeles, J., López-Cajún, C. and Saha, S. K., 1994, “The design of cam mechanisms with translating flat-face followers under curvature constraints,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 306-310.
  119. Angeles, J., Saha, S. K., González-Palacios, M. A. and López-Cajún, C., 1994, “The design of cam mechanisms with oscillating flat-face followers under curvature constraints,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 311-314.
  120. González-Palacios, M. A. and Angeles, J., 1994, “Synthesis of contact surfaces of spherical cam-oscillating roller follower mechanisms: A general approach,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 315-319.
  121. Williams, O., Angeles, J. and Bulca, F., 1993, “Design philosophy of an isotropic six-axis serial manipulator,” Robotics and Computer-Integrated Manufacturing, Vol. 10, No. 4. pp. 275-290.
  122. Liu, Z. and Angeles, J., 1993, “The constrained least-square optimization of spherical four-bar linkages for rigid-body guidance,” Trans. Canadian Society of Mechanical Engineering, Vol. 16, No. 4, pp. 47-60.
  123. Al-Daccak, M. and Angeles, J., 1993, “The calculation of the volumetric properties of sweep-generated solids via line integration,” ASME J. of Mechanical Design, Vol. 115, No. 1, pp. 110-118.
  124. Angeles, J. and López-Cajún, C. S., 1992, “Kinematic isotropy and the conditioning index of serial robotic manipulators,” The International J. Robotics Research, Vol. 11, No. 6, pp. 560-571.
  125. Darcovich, J., Angeles, J. and Misra, A. K., 1992, “Dynamics of single-loop mechanisms with flexible links,” Machine Vibration, Vol. 1, No. 3. pp. 155-163.
  126. Angeles, J., Akhras, R. and Liu, Z., 1992, “The synthesis of smooth trajectories for pick-and-place operations of spherical wrists,” Mechanism and Machine Theory, Vol. 28, No. 2, pp. 261-269.
  127. Liu, Z. and Angeles, J., 1992, “Least-square optimization of planar and spherical four-bar function generators under mobility constraints,” ASME J. of Mechanical Design, Vol. 114, pp. 569-573.
  128. Liu, Z. and Angeles, J., 1992, “The properties of constant-branch four-bar linkages and their applications,” ASME J. of Mechanical Design, Vol. 114, pp. 574-579.
  129. Angeles, J., 1992, “The design of isotropic manipulator architectures in the presence of redundancies,” The International J. of Robotics Research, Vol. 11, No. 3, pp. 196-200.
  130. Ma, O. and Angeles, J., 1992, “Architecture singularities of parallel manipulators,” The International J. Robotics & Automation, Vol. 7, No. 1, pp. 23-29.
  131. Dancose, S., Angeles, J. and Hori N., 1992, “Optimal control and state estimation of a flexible beam modelled by cubic splines,” Machine Vibration, Vol. 1, pp. 86-93.
  132. Nahon, M. and Angeles, J., 1992, “Real-time force optimization in parallel kinematic chains under inequality constraints,” IEEE Trans. Robotics & Automation, Vol. 8, No. 4, pp. 439-450.
  133. Angeles, J. and Liu, Z., 1992, “The constrained least-square optimization of spherical four-bar path generators,” ASME J. of Mechanical Design, Vol. 114, No. 3, pp. 394-405.
  134. Nahon, M. and Angeles, J., 1992, “Minimization of power losses in cooperating manipulators,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 114, No. 2, pp. 213-219.
  135. Angeles, J., 1992, “On the application of Mohr's circle to 2-dof vibration analysis. A tutorial.,” Journal of Sound and Vibration, Vol. 154, No. 3, pp. 556-567.
  136. Gosselin, C. and Angeles, J., 1991, “A global performance index for the kinematic optimization of robotic manipulators,” ASME J. of Mechanical Design, Vol. 113, No. 3, pp. 220-226.
  137. Cyril, X., Angeles, J. and Misra, A. K. 1991, “Dynamics of flexible multibody mechanical systems,” Transactions of the Canadian Society of Mechanical Engineering., Vol. 15, No. 3, pp. 235-249.
  138. Nahon, M. and Angeles, J., 1991, “Co-operative control of multiple space manipulators,” Canadian Aeronautics and Space Journal, Vol. 37, No. 2, pp. 78-87.
  139. Nahon, M. and Angeles, J. , 1991, “Optimization of dynamic forces in the design of mechanical hands,” ASME J. of Mechanical Design, Vol. 113, pp. 167-173.
  140. Saha, S. K. and Angeles, J., 1991, “The mathematics of motion for computer animation: A case study,” Mathematical and Computer Modeling, Vol. 15, No. 10, pp. 61-77.
  141. Saha, S. K. and Angeles, J., 1991, “Dynamics of nonholonomic mechanical systems using a natural orthogonal complement,” ASME J. of Applied Mechanics, Vol. 58, No. 1, pp. 238-243.
  142. Angeles, J. and Ma, O., 1991, “Performance evaluation of four-bar linkages for rigid-body guidance based on generalized coupler curves,” ASME J. of Mechanical Design, Vol. 113, No. 1, pp. 17-24.
  143. Angeles, J., 1990, “Die theoretischen Grundlagen zur Behandlung algebraischer Singularitäten der kinematischen Koordinatenumkehr in der Robotertechnik,” Mechanism and Machine Theory, Vol. 26, No. 3, pp. 315-322.
  144. Gosselin, C. and Angeles, J., 1990, “Kinematic inversion of parallel manipulators in the presence of incompletely specified tasks,” ASME J. of Mechanical Design, Vol. 112, No. 4, pp. 494-500.
  145. Gosselin, C. and Angeles, J., 1990, “Singularity analysis of closed-loop kinematic chains,” IEEE Transactions on Robotics & Automation, Vol. 6, No. 3, pp. 281-290.
  146. Angeles, J., Anderson, K. and Gosselin, C., 1990, “Constrained design optimization using orthogonal decomposition,” ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 112, No. 2, pp. 255-256.
  147. Angeles, J., Chaoming, Z., Duarte, R. and Ning, H., 1990, “The evaluation of moments of 3-D solids of revolution using spline approximations of the boundary,” ASME J. of Mechanical Design, Vol. 112, No. 1, pp. 108-110.
  148. Akhras, R. and Angeles, J., 1990, “Unconstrained nonlinear least-square optimization of planar linkages for rigid-body guidance,” Mechanism and Machine Theory, Vol. 25, No. 1, pp. 97-118.
  149. Cyril, X., Angeles, J. and Misra, A. K., 1990, “Efficient simulation algorithm for robotic manipulator dynamics,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 14, No. 4, pp. 137-142.
  150. Angeles, J. and Lee, S., 1989, “The modelling of holonomic mechanical systems using a natural orthogonal complement,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 13, No. 4, pp. 81-89.
  151. Cyril, X., Angeles, J. and Misra, A. K., 1989, “Efficient inverse dynamics of general n-axis robotic manipulators,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 13, No. 4, pp. 91-95.
  152. Gosselin, C. and Angeles, J., 1989, “Optimization of planar and spherical function generators as minimum-defect linkages,” Mechanism and Machine Theory, Vol. 24, No. 4, pp. 293-307.
  153. Anderson, K. and Angeles, J., 1989, “The kinematic inversion of robot manipulators in the presence of redundancies,” The International J. of Robotics Research, Vol. 8, No. 6, pp. 80-97.
  154. Gosselin, C. and Angeles, J., 1989, “The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator,” ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 111, No. 2, pp. 202-207.
  155. Guo, L. and Angeles, J., 1989, “Controller estimation for the adaptive control of robotic manipulators,” IEEE Transactions on Robotics & Automation, Vol. 5, No. 3, pp. 315-323.
  156. Angeles, J., Ma, O. and Rojas, A., 1989, “An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations,” Computers and Mathematics with Applications, Vol. 17, No. 12, pp. 1545-1561.
  157. Angeles, J. and Thomson, M., 1989, “Profile determination of a drop of liquid under surface tension, gravity, and centrifugal forces,” Computational Mechanics, Vol. 4, No. 5, pp. 329-344.
  158. Angeles, J., Alivizatos, A. and Akhras, R., 1988, “An unconstrained nonlinear least-square method of optimization of RRRR planar path generators,” Mechanism and Machine Theory, Vol. 23, No. 5, pp. 343-353.
  159. Angeles, J. and Gosselin, C., 1988, “Détermination du degré de liberté des chaînes cinématiques,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 12, No. 4, pp. 219-226.
  160. Zung, E. W. W. and Angeles, J., 1988, “Simulation of finite-dimensional linear dynamical systems using zero-order holds and numerical stabilization methods,” Computers & Mathematics with Applications, Vol. 16, No. 4, pp. 307-320.
  161. Angeles, J., Anderson, K., Cyril, X. and Chen, B., 1988, “The kinematic inversion of robotic manipulators in the presence of singularities,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 110, No. 3, pp. 246-254.
  162. Angeles, J. and Ma, O., 1988, “Dynamic mulation of n-axis serial robotic manipulators,” The International J. Robotics Research, Vol. 7, No. 5, pp. 32-47.
  163. Angeles, J. and Ma, O., 1988, “Performance evaluation of path-generating planar, spherical and spatial four-bar linkages,” Mechanism and Machine Theory, Vol. 23, No. 4, pp. 257-268.
  164. Angeles, J., Rojas, A. and López-Cajún, C., 1988, “Trajectory planning in continuous-path applications,” IEEE J. Robotics & Automation, Vol. 4, No. 4, pp. 380-385.
  165. Gosselin, C. and Angeles, J., 1988, “Mobility analysis of planar and spherical linkages,” ASME Computers in Mechanical Engineering, Vol. 7, No. 1, pp. 56-60.
  166. Angeles, J. and Lee, S., 1988, “The formulation of dynamical equations of holonomic mechanical systems using a natural orthogonal complement,” ASME J. of Applied Mechanics, Vol. 55, No. 1, pp. 243-244.
  167. Angeles, J., Alivizatos, A. and Zsombor-Murray, P. J., 1988, “The synthesis of smooth trajectories for pick-and-place operations,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 18, No. 1, pp. 173-178.
  168. Angeles, J., Habib, M. and López-Cajún, C., 1988, “Efficient algorithms for the kinematic inversion of redundant robot manipulators,” The International J. Robotics & Automation, Vol. 3, No. 1, pp. 106-116.
  169. Angeles, J. and López-Cajún, C., 1988, “Optimal synthesis of cam mechanisms with oscillating flat-face followers,” Mechanism and Machine Theory, Vol. 23, No. 1, pp. 1-6.
  170. Gosselin, C. and Angeles, J., 1987, “Représentation graphique de la région de mobilité des mécanismes plans et sphériques à barres articulées,” Mechanism and Machine Theory, Vol. 22, No. 6, pp. 557-562.
  171. Gosselin, C. and Angeles, J., 1987, “The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator,”, ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 1, pp. 35-41.
  172. Angeles, J. , 1987, “Computation of rigid-body angular acceleration from point-acceleration measurements,”, ASME J. of Dynamic Systems, Measurement, and Control, Vol. 109, No. 2, pp. 124-127.
  173. Angeles, J. and Rojas, A., 1987, “Manipulator kinematic inversion via condition-number minimization and continuation,” The International J. Robotics & Automation, Vol. 2, No. 2, pp. 61-69.
  174. Angeles, J. and Bernier, A., 1987, “A general method of four-bar linkage mobility analysis,” ASME J. of Mechanisms, Transmissions, and Auto. in Design, Vol. 109, No. 2, pp. 197-203.
  175. Angeles, J. and Bernier, A., 1987, “The global least-square optimization of function-generating linkages,” ASME J. of Mechanisms, Transmissions, and Auto. in Design, Vol. 109, No. 2, pp. 204-209.
  176. Angeles, J., 1986, “Optimierung ebener, sphärischer und räumlicher Getriebe zur approximierten Lagenzuordnung,” Mechanism and Machine Theory, Vol. 21, No. 2, pp. 187-197.
  177. Angeles, J., Alvarado, M. A. and Mansouri, A.-R., 1986, “A spline-based method of solution of nonlinear two-point boundary-value problems,” Computers and Mathematics with Applications, Vol. 12A, No. 9, pp. 969-985.
  178. Angeles, J., 1986,“Automatic computation of the screw parameters of rigid-body motions. Part I: Finitely-separated positions,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 108, No. 1, pp. 32-38.
  179. Angeles, J., 1986,“Automatic computation of the screw parameters of rigid-body motions. Part II: Infinitesimally-separated positions,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 108, No. 1, pp. 39-43.
  180. Angeles, J., 1986,“Iterative kinematic inversion of general five-axis robot manipulators,” The International J. Robotics Research, Vol. 4, No. 4, pp. 59-70.
  181. Angeles, J., 1985,“On the numerical solution of the inverse kinematic problem,” The International J. Robotics Research, Vol. 4, No. 2, pp. 21-37.
  182. Angeles, J. and Callejas M., 1984, “An algebraic formulation of Grashof's mobility criteria with application to linkage optimization using gradient-dependent methods,” Trans. ASME J.\ of Mechanisms, Transmissions, and Automation in Design, Vol. 106, pp. 327-332.
  183. Angeles, J., 1983, “Synthesis of plane closed curves using parametric periodic spline functions (in Spanish),” Revista de la Academia Nacional de Ingeniería(Mexico), Vol. 2, No. 1, pp. 53-81.
  184. Angeles, J., 1983, “Synthesis of plane curves with prescribed geometric properties using periodic splines,” Computer-Aided Design, Vol. 15, No. 3, pp. 147-155.
  185. Angeles, J., 1983, “On the computation of physical quantities associated with volumes bounded by closed surfaces using integration on the boundary (in Spanish),” Ingeniería, Vol. 52, No. 1, pp. 95-102.
  186. Angeles, J., 1978, “Scope and limitations of linear models in mechanics (in Spanish),” Ingeniería, Vol. 48, No. 4, pp. 292-297.
  187. Angeles, J., 1976, “A piecewise linear model simulating a class of processes in viscoplastic media (in Spanish),” Ingeniería, Vol. 46, No. 2, pp. 197-204.
  188. Angeles, J., 1974, “Dynamical processes in viscoplastic media (in Spanish),” Ingeniería, Vol. 44, No. 4, pp. 382-396.
  189. Angeles, J., 1970, “Some theorems related to the analysis of three-dimensional linkages (in Spanish),” Ingeniería, Vol. 40, No. 3, pp. 374-377.
  190. Angeles, J., 1970, “A generalization of Aronhold-Kennedy's theorem (in Spanish),” Ingeniería, Vol. 40, No. 1, pp. 59-64.