Robot and Multibody Dynamics Analysis and Algorithms /

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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Jain, Abhinandan (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: New York, NY : Springer US : Imprint: Springer, 2011.
Edición:1st ed. 2011.
Temas:
Mechanics, Applied.
Multibody systems.
Vibration.
System theory.
Mathematical physics.
Engineering Mechanics.
Multibody Systems and Mechanical Vibrations.
Complex Systems.
Theoretical, Mathematical and Computational Physics.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Spatial vectors
  • Single rigid body dynamics
  • Differential kinematics for a serial-chain system
  • The mass matrix
  • Equations of motion for a serial chain system
  • Articulated body models for serial chains
  • Operator factorization and inversion of the mass matrix
  • Forward dynamics
  • Tree topology systems
  • The operational space inertia
  • Closed chain system dynamics
  • Multi-arm manipulators
  • Systems with hinge flexibility
  • Systems with link flexibility
  • Under-actuated systems
  • Free-flying space manipulators
  • Mass matrix sensitives
  • Linearized dynamics models
  • Sensitivity of innovations factors
  • Diagnolized lagrangian dynamics
  • Overview of optimal linear estimation theory.

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