3D Motion of Rigid Bodies A Foundation for Robot Dynamics Analysis /

• Main Author: Olguín Díaz, Ernesto (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2019.
• Edition: 1st ed. 2019.
• Series: Studies in Systems, Decision and Control, 191
• Subjects: Computational intelligence.; Robotics.; Automation.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Computational Intelligence.; Robotics and Automation.; Vibration, Dynamical Systems, Control.; Control and Systems Theory.

This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems...

Table of Contents:

• Mathematic Foundations
• Classical Mechanics
• Rigid Motion
• Attitude Representations
• Dynamics of a Rigid Body
• Spacial Vectors Approach
• Lagrangian Formulation
• Model reduction under motion constraint.