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Author: Roy Featherstone Publisher: Springer ISBN: 1489975608 Category : Education Languages : en Pages : 272
Book Description
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.
Author: Roy Featherstone Publisher: Springer ISBN: 1489975608 Category : Education Languages : en Pages : 272
Book Description
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.
Author: Abhinandan Jain Publisher: Springer Science & Business Media ISBN: 1441972676 Category : Technology & Engineering Languages : en Pages : 510
Book Description
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.
Author: Roy Featherstone Publisher: Springer ISBN: 0387743154 Category : Technology & Engineering Languages : en Pages : 214
Book Description
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.
Author: Hubert Hahn Publisher: Springer Science & Business Media ISBN: 3662048310 Category : Technology & Engineering Languages : en Pages : 345
Book Description
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.
Author: Steven Michael LaValle Publisher: ISBN: 9780511241338 Category : Algorithms Languages : en Pages : 826
Book Description
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.
Author: Thorsten Pöschel Publisher: Springer Science & Business Media ISBN: 354027720X Category : Science Languages : en Pages : 322
Book Description
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.
Author: Rick Parent Publisher: Elsevier ISBN: 0080553850 Category : Computers Languages : en Pages : 624
Book Description
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
Author: Ahmed A. Shabana Publisher: Cambridge University Press ISBN: 9781139446518 Category : Science Languages : en Pages : 392
Book Description
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.
Author: Roy Featherstone
Author: Roy Featherstone
Author: Roy Featherstone
Author: Abhinandan Jain
Author: Kevin M. Lynch
Author: Roy Featherstone
Author: Hubert Hahn
Author: Steven Michael LaValle
Author: Thorsten Pöschel
Author: Rick Parent
Author: Ahmed A. Shabana