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Rigid Body Dynamics Algorithms

Author: Roy Featherstone

Publisher: Springer

Published: 2014-11-10

Total Pages: 276

ISBN-13: 1489975608

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 Dynamics Algorithms

Author: Roy Featherstone

Publisher: Kluwer Academic Publishers

Published: 1987-01-01

Total Pages: 211

ISBN-13: 9780898382303

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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

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

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

Author: Sébastien Briot

Publisher: Springer

Published: 2015-06-22

Total Pages: 350

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.

Robot Dynamics Algorithms

Author: Roy Featherstone

Publisher: Springer

Published: 2007-10-16

Total Pages: 214

ISBN-13: 0387743154

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The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer.

Computational Granular Dynamics

Author: Thorsten Pöschel

Publisher: Springer Science & Business Media

Published: 2005-11-04

Total Pages: 324

ISBN-13: 354027720X

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Computer simulations not only belong to the most important methods for the theoretical investigation of granular materials, but provide the tools that have enabled much of the expanding research by physicists and engineers. The present book is intended to serve as an introduction to the application of numerical methods to systems of granular particles. Accordingly emphasis is on a general understanding of the subject rather than on the presentation of latest advances in numerical algorithms. Although a basic knowledge of C++ is needed for the understanding of the numerical methods and algorithms in the book, it avoids usage of elegant but complicated algorithms to remain accessible for those who prefer to use a different programming language. While the book focuses more on models than on the physics of granular material, many applications to real systems are presented.

Computer Animation

Author: Rick Parent

Publisher: Elsevier

Published: 2007-11-01

Total Pages: 624

ISBN-13: 0080553850

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Driven by the demands of research and the entertainment industry, the techniques of animation are pushed to render increasingly complex objects with ever-greater life-like appearance and motion. This rapid progression of knowledge and technique impacts professional developers, as well as students. Developers must maintain their understanding of conceptual foundations, while their animation tools become ever more complex and specialized. The second edition of Rick Parent's Computer Animation is an excellent resource for the designers who must meet this challenge. The first edition established its reputation as the best technically oriented animation text. This new edition focuses on the many recent developments in animation technology, including fluid animation, human figure animation, and soft body animation. The new edition revises and expands coverage of topics such as quaternions, natural phenomenon, facial animation, and inverse kinematics. The book includes up-to-date discussions of Maya scripting and the Maya C++ API, programming on real-time 3D graphics hardware, collision detection, motion capture, and motion capture data processing. New up-to-the-moment coverage of hot topics like real-time 3D graphics, collision detection, fluid and soft-body animation and more! Companion site with animation clips drawn from research & entertainment and code samples Describes the mathematical and algorithmic foundations of animation that provide the animator with a deep understanding and control of technique

Planning Algorithms

Author: Steven Michael LaValle

Publisher:

Published: 2006

Total Pages: 826

ISBN-13: 9780511241338

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Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that integrates literature from several fields into a coherent source for teaching and reference in applications including robotics, computational biology, computer graphics, manufacturing, aerospace applications, and medicine.