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front-matter - Mechanisms and Robots Analysis with MATLAB...

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Mechanisms and Robots Analysis with MATLAB ®
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Dan B. Marghitu Mechanisms and Robots Analysis with MATLAB ® 123
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Dan B. Marghitu, Professor Mechanical Engineering Department Auburn University 270 Ross Hall Auburn, AL 36849 USA ISBN 978-1-84800-390-3 e-ISBN 978-1-84800-391-0 DOI 10.1007/978-1-84800-391-0 Springer Dordrecht Heidelberg London New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2009920949 © Springer-Verlag London Limited 2009 MATLAB ® and Simulink ® are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, USA. http://www.mathworks.com Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudioCalamar, Figueres/Berlin Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
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to Stefania, to Daniela, to Valeria, to Emil
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Preface Mechanisms and robots have been and continue to be essential components of me- chanical systems. Mechanisms and robots are used to transmit forces and moments and to manipulate objects. A knowledge of the kinematics and dynamics of these
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