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Author : Roy Featherstone
Release : 1987-01-01
Genre : Technology & Engineering
Kind : eBook
Book Rating : 303/5 ( reviews)
Book Synopsis Robot Dynamics Algorithms by : Roy Featherstone
Download or read book Robot Dynamics Algorithms written by Roy Featherstone. This book was released on 1987-01-01. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Roy Featherstone
Release : 2007-10-16
Genre : Technology & Engineering
Kind : eBook
Book Rating : 154/5 ( reviews)
Book Synopsis Robot Dynamics Algorithms by : Roy Featherstone
Download or read book Robot Dynamics Algorithms written by Roy Featherstone. This book was released on 2007-10-16. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Roy Featherstone
Release : 2014-11-10
Genre : Education
Kind : eBook
Book Rating : 608/5 ( reviews)
Book Synopsis Rigid Body Dynamics Algorithms by : Roy Featherstone
Download or read book Rigid Body Dynamics Algorithms written by Roy Featherstone. This book was released on 2014-11-10. Available in PDF, EPUB and Kindle. Book excerpt: 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
Release : 2010-12-17
Genre : Technology & Engineering
Kind : eBook
Book Rating : 676/5 ( reviews)
Book Synopsis Robot and Multibody Dynamics by : Abhinandan Jain
Download or read book Robot and Multibody Dynamics written by Abhinandan Jain. This book was released on 2010-12-17. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Kevin M. Lynch
Release : 2017-05-25
Genre : Computers
Kind : eBook
Book Rating : 300/5 ( reviews)
Book Synopsis Modern Robotics by : Kevin M. Lynch
Download or read book Modern Robotics written by Kevin M. Lynch. This book was released on 2017-05-25. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
