Robot and Multibody Dynamics Analysis and Algorithms /

• Main Author: Jain, Abhinandan (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Boston, MA : Springer US, 2011.
• Subjects: Engineering.; Statistical physics.; Dynamical systems.; Mechanics.; Mechanics, Applied.; Vibration.; Dynamics.; Theoretical and Applied Mechanics.; Vibration, Dynamical Systems, Control.; Statistical Physics, Dynamical Systems and Complexity.

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...

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.