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Chapters in Books

  1. Belzile, B. and Angeles, J., 2020, "Dual Least Squares and the Characteristic Length: Applications to Kinematic Synthesis,” in Lovasz, E.-C., Maniu, I., Doroftei, I., Ivanescu, M. and Gruescu, C.-M. (eds.), New Advances in Mechanisms, Mechanical Transmissions and Robotics MTM & Robotics 2020, Springer, Cham, CH, pp. 104-113.
  2. Mirz, C., Uzsynski, O., Angeles, J., Takeda, Y. and Corves, B., 2020, "Stiffness optimization of Delta robots,” in Venture, G., Solis, J., Takeda, Y. and Konno, A. (eds.) ROMANSY 23 - Robot Design, Dynamics and Control, Springer, Cham, CH, pp. 396-404.
  3. Belzile, B. and Angeles, J., 2020, "Workspace analysis and torque optimization with a Schönflies-Motion Generator,” in Venture, G., Solis, J., Takeda, Y. and Konno, A. (eds.) ROMANSY 23 - Robot Design, Dynamics and Control, Springer, Cham, CH, pp. 449-457.
  4. Sun, Q., Angeles, J., and Forbes, J.R., 2020, "Cartesian elastodynamics model of a full-mobility PKM with flexible links,” in Pisla, D., Corves, B. and Vaida, C. (eds.) EuCoMeS 2020 - New Trends in Mechanism and Machine Science, Springer, Cham, CH, pp. 305-313.
  5. Wang, Y., Belzile, B., Angeles, J. and Li, Q., 2019, "On the modeling of redundantly-actuated mechanical systems,” in Kecskeméthy, A. and Flores, F.G. (eds.) ECCOMAS 2019: Multibody Dynamics 2019, Springer, Cham, CH, pp. 172-179.
  6. Belzile, B. and Angeles, J., 2019, "Heuristic algorithm for velocity scheduling with a Schönflies-motion generator,” in Uhl, T. (ed.) IFToMM WC 2019: Advances in Mechanism and Machine Science, Springer, Cham, CH, pp. 2411-2419. This paper won the Best Research Paper Award in Robotics and Mechatronics.
  7. Sun, Q., Angeles, J., and Forbes, J.R., 2018, "Elastostatics of a full-mobility PKM with flexible links,” in Arakelian, V. and Wenger, P. (eds.) ROMANSY 22 - Robot Design, Dynamics and Control, Springer, Cham, CH, pp. 34-41.
  8. Corinaldi, D., Angeles, J. and Callegari, M., 2017, "Posture optimization of a functionally redundant parallel robot," in Lenarčič, J. and Merlet, J.P. (eds.), Advances in Robot Kinematics 2016, Springer Nature, Cham, CH, DOI 10.1007/978-3-319-56802-7_11101.
  9. Angeles, J. and Park, F.C., 2016, "Performance evaluation and design criteria," in Siciliano, B. and Khatib, O. (editors), Handbook of Robotics, 2nd Edition,Springer-Verlag, Berlin-Heidelberg, pp. 399-418.
  10. Li, W. and Angeles, J., 2016, "An alternative approach to the dynamics analysis of closed-loop mechanisms," in Parenti-Castelli, V. and Schielen, W. (editors), ROMANSY 21--Robot Design, Dynamics and Control, Springer, Heidelberg, pp. 123-131.
  11. Angeles, J., 2013, "Foundations for the approximate synthesis of RCCC motion generators," in Thomas, F. and Pérez Gracia, A., 2013, Computational Kinematics, Springer, Berlin-Heidelberg, pp. 331--338.
  12. Angeles, J., 2012, "The dual generalized inverses and their applications in kinematic synthesis," in Lenarčič, J. and Husty, M. (editors), Latest Advances in Robot Kinematics, Springer, Dordrecht, pp. 1--10.
  13. Barnett, E., Angeles, J., Pasini, D. and Sijpkes, P., 2010, "A heuristic algorithm for slicing in the rapid freeze prototyping of sculptured bodies," in Angeles, J., Boulet, B., Clark, J.J., Kövecses, J. and Siddiqi, K. (Eds.), 2010, Brain, Body and Machine, pp. 149--162, Springer-Verlag, Berlin-Heidelberg.
  14. Alizadeh, D., Angeles, J. and Nokleby, S., 2010, "Optimum design of a pan-tilt drive for parallel robots," in Lenarčič, J. and Stanisic, M. (editors), Advances in Robot Kinematics. Motion in Man and Machine, Springer, Dordrecht, pp. 169-176.
  15. Angeles, J., 2010, "Robust drives for parallel robots," in Parenti-Castelli, V. and Schielen, W. (editors), Robot Design, Dynamics, and Control, RoManSy 18, Springer, Vienna, pp. 19-28.
  16. Figliolini, G., Stachel, H. and Angeles, J., 2009, "The computational fundamentals of spatial cycloidal gearing," in Kecskeméthy, A. and Müller, A., (Editors), Computational Kinematics, Springer-Verlag, Berlin-Heidelberg, pp. 375-384.
  17. Alizadeh, D., Angeles, J. and Nokleby, S., 2009, "On the computation of the home posture of the McGill Schönflies motion generator," in Kecskeméthy, A. and Müller, A., (Editors), Computational Kinematics, Springer-Verlag, Berlin-Heidelberg, pp. 149-158.
  18. Oryschuk, P., Salerno, A., Al-Husseini, A.M. and Angeles, J., 2008, "The real-time control of an underactuated two-wheeled mobile robot," in Takanishi, A., Nakamura, Y. and Heimann, B., (Editors), Robot Design, Dynamics, and Control, RoManSy 17, pp. 139-147.
  19. Modarres, S. A., Kövecses, J. and Angeles, J., 2008, "Analysis experimental study of an energy-based approach to impact in mechanical systems," in Takanishi, A., Nakamura, Y. and Heimann, B., (Editors), Robot Design, Dynamics, and Control, RoManSy 17, pp. 175-181.
  20. Angeles, J. and Park, F.C., 2008, "Performance evaluation and design criteria," in Siciliano, B. and Khatib, O. (editors), Handbook of Robotics,Springer-Verlag, Berlin-Heidelberg, pp. 229-244.
  21. Gauthier, J.-F., Angeles, J., Nokleby, S. and Morozov, A., 2008, "Optimization of a test trajectory for SCARA Systems," in Lenarčič, J. and Wenger, P. (editors), Advances in Robot Kinematics. Analysis and Design, Springer, Dordrecht, pp. 225-234.
  22. Cardou, P. and Angeles, J., 2008, "Angular-velocity estimation from the centripetal component of the rigid-body acceleration field," in Lenarčič, J. and Wenger, P. (editors), Advances in Robot Kinematics, Analysis and Design. Springer, Dordrecht, pp. 353-360.
  23. Nasrallah, D.S., Angeles, J. and Michalska, H., 2006, "The largest feedback-linearizable subsystem of a class of wheeled robots moving on an inclined plane'', in Zielinska, T. and Zielinski, C. (editors), Robot Design, Dynamics, and Control, RoManSy 16, Springer, Warsaw, pp. 205-212.
  24. Khan, W.A., Caro, S., Pasini, D. and Angeles, J., 2006, "Complexity analysis for the conceptual design of robotic architectures", in Lenarčič, J. and Roth, B. (editors), On Advances in Robot Kinematics, Springer, Ljubljana, pp. 359-368.
  25. Al-Widyan, K.  and Angeles,  J. , 2004,  “The robust design of Schönflies-motion generators”, in Lenarčič, J. and  Galletti, C. (editors), On Advances in Robot Kinematics, Kluwer Academic Publishers, Dordrecht, pp.339--350
  26. Ghuneim, T.G.,  Angeles, J.   and Bai, S.P., 2004, “The design of a novel pitch-roll wrist with spherical cam-roller pairs”, in Lenarčič, J.   and  Galletti, C. (editors),  On Advances in Robot Kinematics, Kluwer Academic Publishers, Dordrecht, pp.381-388
  27. Larochelle, P.M.,  Murray, A.P.  and Angeles, J. , 2004,  “SVD and PD based projection metrics on SE(n)”, in Lenarčič, J.   and  Galletti, C. (editors),  On Advances in Robot Kinematics, Kluwer Academic Publishers, Dordrecht, pp.13--22
  28. Angeles, J., López-Cajún, C. S. and Cervantes-Sánchez, J. J.,  2003, “Geometry of planar cam profiles”, in Rothbart, H. A. (editor),  Cam Design Handbook, McGraw Hill Publishing Co., New York, pp. 175-215.
  29. Al-Widyan, K., Angeles, J. and Cervantes-S´anchez, J.J., 2003, “A model-based framework for robust design,” in Gogu, G. et al. (editors), Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, Dordrecht, pp. 431-442.
  30. Caro, S., Chablat, D., Wenger, P. and Angeles, J., 2003, “The isoconditioning loci of planar three-dof parallel manipulators”, in Gogu, G. et al. (editors), Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, B. V., Dordrecht, pp. 129-138.
  31. Parsa, K., Angeles, J. and Misra, A.K., 2002, “Linearized kinematics for state estimation in robotics”, Advances in Robot Kinematics: Theory and applications, in Lenarčič A. J. and Thomas, F., Kluwer Academic Publishers, Dordrecht, pp. 39–48.
  32. Al-Widyan, K. and Angeles, J., 2002, "The kinetostatic design of a Schönflies-motion generators," Ad vances in Robot Kinematics: Theory and Applications, in Lenarčič A. J. and Thomas, F., Kluwer Academic Publishers, Dordrecht, pp. 311-318.
  33. Chablat, D., Wenger, P. and Angeles, J., 2002, "Isotropic design of a parallel machine-tool mechanism'', Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, B. V., Dordrecht, pp. 415–422.
  34. Ostrovskaya, S. and Angeles, J., 2002, "Kinematics of robots with roller-constrained ball-wheels," Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, B. V., Dordrecht, pp. 381-390.
  35. Angeles, J. and Chablat, D., 2000, "On isotropic sets of points in the plane. Application to the design of robot architectures," in Lenarčič, J. and Stanišić, M. M., Advances in Robot Kinematics, Kluwer Academic Publishers, B. V., Dordrecht, pp. 73-82
  36. Chablat D., Wenger P., Angeles J., 1999, "The Kinematic Design of a 3-DOF Hybrid Manipulator'', in Batoz, J. L., Chedmail, P., Cognet, G. and Fortin, C. (editors), Integrated Design and Manufacturing in Mechanical Engineering '98, Kluwer Academic Publishers, B. V., Dordrecht, pp. 225-232.
  37. Darcovich, J., Angeles, J., Montagnier, P. and Wu, C.-J., 1999, "RVS: A Robot Visualization Software Package'', in Batoz, J.-L., Chedmail, P., Cognet, G. and Fortin, C. (editors), Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, Dordrecht, pp. 265-272.
  38. Baron, L., Angeles, J., 1998, "The On-Line Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy'', in Lenarčič, A. J. and Husty, L. (editors), Advances in Robot Kinematics: Analysis and Control, Kluwer Academic Publishers, Netherlands, pp. 127-136.
  39. Arenson, N., Angeles, J. and Slutski, L., 1998, "Redundancy-Resolution Algorithms for Isotropic Robots'', in Lenarčič, A. J. and Husty, L. (editors), Advances in Robot Kinematics: Analysis and Control, Kluwer Academic Publishers, Netherlands, pp. 425-434.
  40. Angeles, J., 1998, "The Application of Dual Algebra to Kinematic Analysis'', in Angeles, J. and Zakhariev, E. (editors), Computational Methods in Mechanical Systems, Springer-Verlag, Heidelberg, Vol. 161, pp. 3-31.
  41. González-Palacios, M. and Angeles, J., 1997, "USYCAMS: A Software Package for the Interactive Synthesis of Cam Mechanisms'', in Chedmail, P., Bocquet, J.-C. and Dornfeld, D. (editors), Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic Publishers, Dordrecht, pp. 205-214.
  42. Angeles, J., Bulca, F., Arenson, N. and Arenson, M., 1996, "The kinematic sensitivities of redundant robotic manipulators'' in Lenarčič, A. J. and Parenti-Castelli, V., (editors), Recent Advances in Robot Kinematics, Kluwer Academic Publishers, B. V., Dordrecht, pp. 7-26.
  43. Etemadi Zanganeh, K. and Angeles, J., 1995 "On the isotropic design of general six-degree-of-freedom parallel manipulators," in Merlet, J.-P. (editor), Computational Kinematics Workshop, Kluwer Academic Publishers B. V. Dordrecht, pp. 213-220.
  44. Husty, M. L. and Angeles, J., 1994, "Kinematic Isotropy in 3R Positioning Manipulators'', in Lenarčič, A. J. and Ravani, B. B., (editors), Advances in Robot Kinematics and Computational Geometry, Kluwer Academic Publishers B. V., Dordrecht, pp. 181-190.
  45. Angeles, J., 1994, "On Twist and Wrench Generators and Annihilators'' in Seabra Pereira, M. and Ambrósio, J. C. (editors), Computer Aided Analysis of Rigid and Flexible Mechanical Systems, Kluwer Academic Publishers B. V., Dordrecht, pp. 379-411.
  46. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., 1993, "The Kinematics of 3-Dof Planar and Spherical Double-Triangular Parallel Manipulators'', in Angeles, J., Hommel, G. and Kovács, P. (editors), Computational Kinematics, Kluwer Academic Publishers B. V. Dordrecht, pp. 153-164.
  47. Etemadi Zanganeh, K. E. and Angeles, J., 1993, "The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators'', in Angeles, J., Hommel, G. and Kovács, P., (editors), Computational Kinematics, Kluwer Academic Publishers B. V., Dordrecht, pp. 165-173.
  48. Gabriele, G., Angeles, J., Liu, Z. and Faik, S., 1993, "Optimization in Mechanisms'', in A. G. Erdman (editor), First Forty Years of Modern Kinematics, John Wiley & Sons Inc., New York, pp. 471-519.
  49. Angeles, J., 1992, "Review of `Singular Configurations of Parallel Manipulators and Grassmann Geometry' by Merlet, J.-P.'', in The Robotics Review 2, Khatib, O., Craig, J. J. and Lozano-Pérez, T. (editors), The MIT Press, London, England, pp. 197-201.
  50. Angeles, J., 1991, "A Scale-Independent and Frame-Invariant Index of Kinematic Conditioning for Serial Manipulators'', in Stifter, S. and Lenarčič, J. (editors), Advances in Robot Kinematics, Springer-Verlag, Vienna, pp. 2-9.
  51. Dancose, S. and Angeles, J., 1990, "Modelling and Simulation of Flexible Beams Using Cubic Splines and Zero-Order Holds'', in Kaashoek, M. A., van Schuppen, J. H. and A. C. M. Ran (editors), Robust Control of Linear Systems and Nonlinear Control, Vol. II, Birkhäuser, Boston-Basel-Berlin, pp. 553-564.
  52. Ioannides, G., Angeles, J., Flanagan, R. and Ostry, D. J., 1990, "Robot Calibration Using Least-Square and Polar-Decomposition Filtering'', in Hayward, V. and Khatib, O. (editors), Experimental Robotics I, Lecture Notes in Control and Information Science, Springer-Verlag, Berlin-Heidelberg-New York-Tokyo, pp. 553-567.