J
Jorge Angeles
Researcher at McGill University
Publications - 524
Citations - 14833
Jorge Angeles is an academic researcher from McGill University. The author has contributed to research in topics: Kinematics & Parallel manipulator. The author has an hindex of 52, co-authored 518 publications receiving 13771 citations. Previous affiliations of Jorge Angeles include Vienna University of Technology & National Autonomous University of Mexico.
Papers
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Journal ArticleDOI
Singularity analysis of closed-loop kinematic chains
Clément Gosselin,Jorge Angeles +1 more
TL;DR: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed and a general classification of these singularities in three main groups, based on the properties of the Jacobian matrices of the chain, is described.
Journal ArticleDOI
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
Clément Gosselin,Jorge Angeles +1 more
TL;DR: In this article, a performance index for the kinematic optimization of robotic manipulators is presented based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the joint and Cartesian spaces.
Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
BookDOI
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
TL;DR: In this article, the authors deal with robots such as remote manipulators, multifingered hands, walking machines, flight simulators, and wheeled vehicles that rely on mechanical systems to perform their tasks.
Book
Fundamentals of Robotic Mechanical Systems
TL;DR: This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks and aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based.