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Dynamics of Tree-Type Robotic Systems [electronic resource] / by Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt

Author
Shah, Suril Vijaykumar
Published
Dordrecht : Springer Netherlands : Imprint: Springer, 2013.
Physical Description
XII, 251 pages 145 illustrations, 19 illustrations in color : digital
Additional Creators
Saha, Subir Kumar, Dutt, Jayanta Kumar, and SpringerLink (Online service)
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Series
Contents
1 Introduction -- 2 Dynamics of Robotic Systems -- 3 Euler-Angle-Joints (EAJs) -- 4 Kinematics of Tree-Type Robotic Systems -- 5 Dynamics of Tree-Type Robotic Systems -- 6 Recursive Dynamics for Fixed-Base Robotic Systems -- 7 Recursive Dynamics for Floating-Base Systems -- 8 Closed-Loop Systems -- 9 Controlled Robotic Systems -- 10 Recursive Dynamics Simulator (ReDySim) -- Appendices -- References.-Index.
Summary
This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.
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ISBN
9789400750067
Note
AVAILABLE ONLINE TO AUTHORIZED PSU USERS.
Part Of
Springer eBooks
View MARC record | catkey: 9485831