Overview

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.

Full Product Details

Author:   Abhinandan Jain
Publisher:   Springer-Verlag New York Inc.
Imprint:   Springer-Verlag New York Inc.
Edition:   2011 ed.
Dimensions:   Width: 15.50cm , Height: 2.70cm , Length: 23.50cm
Weight:   0.807kg
ISBN:  

9781489982308

ISBN 10:   1489982302
Pages:   510
Publication Date:   09 October 2014
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

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.

Reviews

From the reviews: The book deals with the theory of spatial operator algebra which assures a high level of abstraction for the equations that describe the dynamics of the multibody systems. The book ends with two appendices and solutions of the exercises proposed in each chapter. The book is very useful to researchers and scientists in the field of the multibody dynamics. A perfect reader is one which knows both mathematics and engineering. (Nicolae-Doru Stanescu, International Journal of Acoustics and Vibration, Vol. 16 (3), 2011) This book now offers a comprehensive and coherent description of the SOA methodology and techniques, and of the interplay between the mathematical analysis, the structural properties, and the computational algorithms. This book is an important contribution to the literature and deserves a wide acceptance by engineers working in the field of multibody dynamics and space manipulators. (Franz Selig, Zentralblatt MATH, Vol. 1215, 2011)

From the reviews: The book deals with the theory of spatial operator algebra which assures a high level of abstraction for the equations that describe the dynamics of the multibody systems. ... The book ends with two appendices and solutions of the exercises proposed in each chapter. The book is very useful to researchers and scientists in the field of the multibody dynamics. ... A perfect reader is one which knows both mathematics and engineering. (Nicolae-Doru Stanescu, International Journal of Acoustics and Vibration, Vol. 16 (3), 2011) This book now offers a comprehensive and coherent description of the SOA methodology and techniques, and of the interplay between the mathematical analysis, the structural properties, and the computational algorithms. ... This book is an important contribution to the literature and deserves a wide acceptance by engineers working in the field of multibody dynamics and space manipulators. (Franz Selig, Zentralblatt MATH, Vol. 1215, 2011)

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