Robot And Multibody Dynamics
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Robot And Multibody Dynamics
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Author : Abhinandan Jain
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-12-17
Robot And Multibody Dynamics written by Abhinandan Jain and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-12-17 with Technology & Engineering categories.
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.
Multibody System Dynamics Robotics And Control
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Author : Hubert Gattringer
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-01-06
Multibody System Dynamics Robotics And Control written by Hubert Gattringer and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-01-06 with Technology & Engineering categories.
The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Dynamics Of Rigid Flexible Robots And Multibody Systems
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Author : Paramanand Vivekanand Nandihal
language : en
Publisher: Springer Nature
Release Date : 2021-11-28
Dynamics Of Rigid Flexible Robots And Multibody Systems written by Paramanand Vivekanand Nandihal and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-28 with Technology & Engineering categories.
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.
Dynamics Of Rigid Flexible Robots And Multibody Systems
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Author : Paramanand Vivekanand Nandihal
language : en
Publisher: Springer
Release Date : 2021-10-18
Dynamics Of Rigid Flexible Robots And Multibody Systems written by Paramanand Vivekanand Nandihal and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-18 with Technology & Engineering categories.
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.
Multibody Dynamics
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Author : Josep M. Font-Llagunes
language : en
Publisher: Springer
Release Date : 2016-04-12
Multibody Dynamics written by Josep M. Font-Llagunes and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-04-12 with Technology & Engineering categories.
This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. 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 systems, and nanotechnologies.
Multi Body Dynamic Modeling Of Multi Legged Robots
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Author : Abhijit Mahapatra
language : en
Publisher: Springer Nature
Release Date : 2020-02-27
Multi Body Dynamic Modeling Of Multi Legged Robots written by Abhijit Mahapatra and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-02-27 with Computers categories.
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
Multibody Dynamics
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Author : Krzysztof Arczewski
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-11-08
Multibody Dynamics written by Krzysztof Arczewski and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-08 with Technology & Engineering categories.
The ECCOMAS Thematic Conference “Multibody Dynamics 2009” was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.
Dynamics And Control Of Robotic Systems
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Author : Andrew J. Kurdila
language : en
Publisher: John Wiley & Sons
Release Date : 2019-10-29
Dynamics And Control Of Robotic Systems written by Andrew J. Kurdila and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-10-29 with Technology & Engineering categories.
A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.
Multibody Dynamics
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Author : Zdravko Terze
language : en
Publisher: Springer
Release Date : 2014-06-26
Multibody Dynamics written by Zdravko Terze and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-06-26 with Technology & Engineering categories.
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.
Fundamentals Of Multibody Dynamics
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Author : Farid Amirouche
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-05-24
Fundamentals Of Multibody Dynamics written by Farid Amirouche and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-05-24 with Technology & Engineering categories.
This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.