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...
Uloženo v:
| Hlavní autor: | |
|---|---|
| Médium: | Livre numérique |
| Jazyk: | Anglais |
| Vydáno: |
Boston, MA :
Springer US
[20..].
Cham : Springer Nature |
| On-line přístup: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Poznámka: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Robot and multibody dynamics, analysis and algorithms, Abhinandan Jain, 2011, Pasadena, Californie, Springer US, 1 vol. (510 p.), 978-1-441-97266-8 |
Obsah:
- 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