Robot Dynamics Algorithms

Language: English

Published by Springer, Springer, 2013

1475764375 / 9781475764376

Series: Book 76 of 260 - The Springer International Series in Engineering and Computer Science

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Seller: AHA-BUCH GmbH, Einbeck, GermanyAHA-BUCH GmbH

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Druck auf Anfrage Neuware - Printed after ordering - 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.

Seller Inventory # 9781475764376

Title
Robot Dynamics Algorithms
Author
Roy Featherstone
Publisher
Springer, Springer
Publication year
2013
Condition
Neu
Binding
Taschenbuch
Language
English
ISBN 10
1475764375
ISBN 13
9781475764376
Item weight
347 grams
Dimensions
235x155x13 mm
Series
Book 76 of 260: The Springer International Series in Engineering and Computer Science

AHA-BUCH GmbH

Einbeck, Germany

5-star seller

AbeBooks seller since August 14, 2006

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