Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms

Author: Roy Featherstone

Publisher: Springer

Published: 2014-11-10

Total Pages: 276

ISBN-13: 1489975608

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Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

Robot and Multibody Dynamics
Robot and Multibody Dynamics

Author: Abhinandan Jain

Publisher: Springer Science & Business Media

Published: 2010-12-17

Total Pages: 512

ISBN-13: 1441972676

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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.

Modern Robotics
Modern Robotics

Author: Kevin M. Lynch

Publisher: Cambridge University Press

Published: 2017-05-25

Total Pages: 545

ISBN-13: 1107156300

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A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Rigid Body Dynamics of Mechanisms
Rigid Body Dynamics of Mechanisms

Author: Hubert Hahn

Publisher: Springer Science & Business Media

Published: 2013-11-11

Total Pages: 345

ISBN-13: 3662048310

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This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.

Dynamics of Parallel Robots
Dynamics of Parallel Robots

Author: Sébastien Briot

Publisher: Springer

Published: 2015-06-22

Total Pages: 356

ISBN-13: 3319197886

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This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Planning Algorithms
Planning Algorithms

Author: Steven M. LaValle

Publisher: Cambridge University Press

Published: 2006-05-29

Total Pages: 844

ISBN-13: 9780521862059

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Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Intermediate Dynamics
Intermediate Dynamics

Author: Patrick Hamill

Publisher: Jones & Bartlett Publishers

Published: 2009-01-14

Total Pages: 744

ISBN-13: 1449668828

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Ideal for the two-semester, undergraduate Classical Mechanics course, Intermediate Dynamics provides an active-learning, student-friendly approach to this challenging level of physics. The text begins with an optional review of introductory concepts typically covered in prerequisite courses and moves on to the topics traditionally covered in courses in intermediate mechanics. It includes historical sketches of important contributors to the field and provides footnotes to recent articles that consider the material being discussed. Within each chapter the author includes numerous accessible exercises that help students understand key material, while more rigorous end-of-chapter problems challenge students to work out problems based on concepts discussed in the chapter. Additional computer problems are offered at the end of each chapter for those who would like to explore computational physics.

Dynamics of Multibody Systems
Dynamics of Multibody Systems

Author: Ahmed A. Shabana

Publisher: Cambridge University Press

Published: 2005-06-30

Total Pages: 392

ISBN-13: 9781139446518

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Dynamics of Multibody Systems, 3rd Edition, first published in 2005, introduces multibody dynamics, with an emphasis on flexible body dynamics. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale, multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. This revised third edition now includes important developments relating to the problem of large deformations and numerical algorithms as applied to flexible multibody systems. The book's wealth of examples and practical applications will be useful to graduate students, researchers, and practising engineers working on a wide variety of flexible multibody systems.

Dynamics of Multibody Systems
Dynamics of Multibody Systems

Author: Ahmed A. Shabana

Publisher: Cambridge University Press

Published: 2013-09-02

Total Pages: 397

ISBN-13: 1107435889

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This enhanced fourth edition of Dynamics of Multibody Systems includes an additional chapter that provides explanations of some of the fundamental issues addressed in the book, as well as new detailed derivations of some important problems. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. The book's wealth of examples and practical applications will be useful to graduate students, researchers and practising engineers working on a wide variety of flexible multibody systems.