Multi Body Kinematics And Dynamics With Lie Groups

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Multi-Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique Paul Chevallier,Jean Lerbet
  • Publisher : Elsevier
  • Release Date : 2017-11-22
  • Total pages : 334
  • ISBN : 9780081023570
  • File Size : 50,7 Mb
  • Total Download : 203
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Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy Includes theoretical results that have appeared in scientific articles

Multi-Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique P. Chevallier,Jean Lerbet
  • Publisher : Iste Press - Elsevier
  • Release Date : 2017-12
  • Total pages : 300
  • ISBN : 1785482319
  • File Size : 51,5 Mb
  • Total Download : 251
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Multi-body Kinematics and Dynamics with Lie Groups starts with an overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group which may be used in problems of kinematics and dynamics of rigid bodies. The book includes exercises allowing the reader to get familiar with this mathematical framework. For the more experienced readers, theoretical results that have appeared in some scientific articles are also included. For example, a complete classification of singularities of mechanisms is developed through exercises. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy Includes theoretical results that have appeared in scientific articles

Multibody Dynamics

Multibody Dynamics
  • Author : Zdravko Terze
  • Publisher : Springer
  • Release Date : 2014-06-26
  • Total pages : 368
  • ISBN : 9783319072609
  • File Size : 12,7 Mb
  • Total Download : 627
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By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

Structure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics

Structure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics
  • Author : Peter Betsch
  • Publisher : Springer
  • Release Date : 2016-05-10
  • Total pages : 291
  • ISBN : 9783319318790
  • File Size : 13,9 Mb
  • Total Download : 114
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This book focuses on structure-preserving numerical methods for flexible multibody dynamics, including nonlinear elastodynamics and geometrically exact models for beams and shells. It also deals with the newly emerging class of variational integrators as well as Lie-group integrators. It discusses two alternative approaches to the discretization in space of nonlinear beams and shells. Firstly, geometrically exact formulations, which are typically used in the finite element community and, secondly, the absolute nodal coordinate formulation, which is popular in the multibody dynamics community. Concerning the discretization in time, the energy-momentum method and its energy-decaying variants are discussed. It also addresses a number of issues that have arisen in the wake of the structure-preserving discretization in space. Among them are the parameterization of finite rotations, the incorporation of algebraic constraints and the computer implementation of the various numerical methods. The practical application of structure-preserving methods is illustrated by a number of examples dealing with, among others, nonlinear beams and shells, large deformation problems, long-term simulations and coupled thermo-mechanical multibody systems. In addition it links novel time integration methods to frequently used methods in industrial multibody system simulation.

New Trends in Mechanism and Machine Science

New Trends in Mechanism and Machine Science
  • Author : Doina Pisla,Burkhard Corves,Calin Vaida
  • Publisher : Springer Nature
  • Release Date : 2020-08-20
  • Total pages : 539
  • ISBN : 9783030550615
  • File Size : 51,8 Mb
  • Total Download : 835
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This volume presents the latest research and industrial applications in the areas of mechanism science, robotics and dynamics. The respective contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and the teaching and history of mechanisms. Written by leading researchers and engineers, and selected by means of a rigorous international peer-review process, the papers highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaborations. They reflect the outcomes of the 8th European Conference on Mechanism Science (EuCoMeS) in 2020.

Dynamics of Multibody Systems

Dynamics of Multibody Systems
  • Author : Jens Wittenburg
  • Publisher : Springer Science & Business Media
  • Release Date : 2007-10-20
  • Total pages : 223
  • ISBN : 9783540739142
  • File Size : 41,8 Mb
  • Total Download : 956
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Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics
  • Author : Sirouspour, Shahin
  • Publisher : IGI Global
  • Release Date : 2013-03-31
  • Total pages : 348
  • ISBN : 9781466636354
  • File Size : 23,7 Mb
  • Total Download : 558
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The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

Symbiotic Multi-Robot Organisms

Symbiotic Multi-Robot Organisms
  • Author : Paul Levi,Serge Kernbach
  • Publisher : Springer Science & Business Media
  • Release Date : 2010-05-18
  • Total pages : 470
  • ISBN : 9783642116926
  • File Size : 34,7 Mb
  • Total Download : 740
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This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring.

Intelligent Robotics and Applications

Intelligent Robotics and Applications
  • Author : Sabina Jeschke,Honghai Liu,Daniel Schilberg
  • Publisher : Springer
  • Release Date : 2011-12-03
  • Total pages : 623
  • ISBN : 9783642254895
  • File Size : 27,5 Mb
  • Total Download : 604
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The two volume set LNAI 7101 and 7102 constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.

Spacecraft Attitude Control

Spacecraft Attitude Control
  • Author : Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun
  • Publisher : Elsevier
  • Release Date : 2022-02-14
  • Total pages : 384
  • ISBN : 9780323990066
  • File Size : 41,9 Mb
  • Total Download : 685
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Spacecraft Attitude Control: A Linear Matrix Inequality Approach solves problems for spacecraft attitude control systems using convex optimization, and more specifically, through a linear matrix inequalities approach (LMI). High-precision pointing and improved robustness in the face of external disturbances and other uncertainties are requirements for the current generation of spacecraft. The title develops an LMI approach to spacecraft attitude control and shows that all uncertainties in the maneuvering process can be solved numerically. The book develops a wide variety of novel and robust controllers, applicable both to spacecraft attitude control and easily extendible to second-order systems. This title introduces spacecraft attitude control and robust systems, giving an extensive survey of current research and helping researchers improve robust control performance. Considers the control requirements of modern spacecraft Presents rigid and flexible spacecraft control systems with inherent mathematic uncertainties that lead to a model-like state-space Develops a variety of novel and robust controllers directly applicable to spacecraft control and extendable to other second-order systems Includes a systematic survey of recent research in spacecraft attitude control

Dynamics of Rigid-Flexible Robots and Multibody Systems

Dynamics of Rigid-Flexible Robots and Multibody Systems
  • Author : Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha
  • Publisher : Springer Nature
  • Release Date : 2021-11-28
  • Total pages : 279
  • ISBN : 9789811627989
  • File Size : 51,6 Mb
  • Total Download : 545
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This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds
  • Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
  • Publisher : Springer
  • Release Date : 2017-08-14
  • Total pages : 539
  • ISBN : 9783319569536
  • File Size : 18,6 Mb
  • Total Download : 662
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This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

EuCoMeS 2018

EuCoMeS 2018
  • Author : Burkhard Corves,Philippe Wenger,Mathias Hüsing
  • Publisher : Springer
  • Release Date : 2018-08-01
  • Total pages : 427
  • ISBN : 9783319980201
  • File Size : 31,7 Mb
  • Total Download : 939
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This volume presents the latest academic research and industrial applications in the area of mechanisms, robotics and dynamics. Contributions cover such topics as biomedical applications, control issues of mechanical systems, dynamics of multi-body systems, experimental mechanics, haptic systems, history of mechanism science, industrial and non-industrial applications, linkages and cams, mechanical transmissions and gears, mechanics of robots and manipulators, theoretical kinematics. Resulting from the 7th European Conference on Mechanism Science, which was held at RWTH Aachen University on September 4-6, 2018, this works comprises an overview on current research activities across Europe. .

Vehicle-Manipulator Systems

Vehicle-Manipulator Systems
  • Author : Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
  • Publisher : Springer Science & Business Media
  • Release Date : 2013-10-02
  • Total pages : 388
  • ISBN : 9781447154631
  • File Size : 23,7 Mb
  • Total Download : 949
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Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.

Interdisciplinary Applications of Kinematics

Interdisciplinary Applications of Kinematics
  • Author : Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias
  • Publisher : Springer
  • Release Date : 2019-05-16
  • Total pages : 274
  • ISBN : 9783030164232
  • File Size : 44,7 Mb
  • Total Download : 309
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This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

Advanced Dynamics Modeling, Duality and Control of Robotic Systems

Advanced Dynamics Modeling, Duality and Control of Robotic Systems
  • Author : Edward Y.L. Gu
  • Publisher : CRC Press
  • Release Date : 2021-09-23
  • Total pages : 320
  • ISBN : 9781000454864
  • File Size : 41,7 Mb
  • Total Download : 108
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This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures. In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.

Flexible Multibody Dynamics

Flexible Multibody Dynamics
  • Author : O. A. Bauchau
  • Publisher : Springer Science & Business Media
  • Release Date : 2010-10-23
  • Total pages : 730
  • ISBN : 9789400703353
  • File Size : 50,6 Mb
  • Total Download : 218
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The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations. This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.

Applied Mechanics Reviews

Applied Mechanics Reviews
  • Author : Anonim
  • Publisher : Unknown
  • Release Date : 1984
  • Total pages : 784
  • ISBN : OSU:32435026160895
  • File Size : 53,9 Mb
  • Total Download : 227
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PDF book entitled Applied Mechanics Reviews written by Anonim and published by Unknown which was released on 1984 with total hardcover pages 784, the book become popular and critical acclaim.

Advances on Tensor Analysis and their Applications

Advances on Tensor Analysis and their Applications
  • Author : Francisco Bulnes
  • Publisher : BoD – Books on Demand
  • Release Date : 2020-09-09
  • Total pages : 142
  • ISBN : 9781839625558
  • File Size : 31,7 Mb
  • Total Download : 648
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This book brings together recent advances in tensor analysis and studies of its invariants such as twistors, spinors, kinematic tensors and others belonging to tensor algebras with extended structures to Lie algebras, Kac-Moody algebras, and enveloping algebras, among others. Chapters cover such topics as classical tensors and bilinear forms, tensors for exploring space–time, tensor applications in geometry and continuum media, and advanced topics in tensor analysis such as invariant theory, derived categories, hypercohomologies, k-modules, extensions of kinematic tensors, infinite dimensional operators, and more.

Springer Handbook of Robotics

Springer Handbook of Robotics
  • Author : Bruno Siciliano,Oussama Khatib
  • Publisher : Springer Science & Business Media
  • Release Date : 2008-05-20
  • Total pages : 1627
  • ISBN : 9783540239574
  • File Size : 12,6 Mb
  • Total Download : 476
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With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

Dynamics of Tree-Type Robotic Systems

Dynamics of Tree-Type Robotic Systems
  • Author : Suril Vijaykumar Shah,Subir Kumar Saha,Jayanta Kumar Dutt
  • Publisher : Springer Science & Business Media
  • Release Date : 2012-12-14
  • Total pages : 252
  • ISBN : 9789400750067
  • File Size : 44,6 Mb
  • Total Download : 115
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This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.