Robot and Multibody Dynamics: Analysis and Algorithms (Google eBook)
Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.
What people are saying - Write a review
We haven't found any reviews in the usual places.
Other editions - View all
1-resolvent adjacency matrix aggregation sub-graph angular velocity articulated body inertia base-body block block-diagonal body frame BWA matrix center of mass closed-chain component composite body inertias computing conﬁguration Coriolis cut-edge decomposition deﬁned deﬁnition degrees of freedom denote diagonal dt dt efﬁcient elements end loop end-effector equations of motion establishes ﬁrst following lemma formulation forward dynamics algorithm frame derivatives free-ﬂying gyroscopic identity inertial frame inverse dynamics Jacobian kinematics kinetic energy kth body kth hinge kth link Lagrangian lower-triangular Lyapunov equation manipulator mass matrix Multibody Dynamics multibody systems non-zero obtain operator expressions outboard partitioned Proof properties quaternion relationship Riccati equation rigid body rotation matrix satisﬁes serial-chain systems Show SKO model SKO operator Solution spatial acceleration spatial force spatial inertia spatial momentum spatial operator spatial vector Springer Science+Business Media stacked vector structure tip-to-base transformation tree digraph tree-topology system velocity coordinates zero