Robot and Multibody Dynamics [electronic resource]: Analysis and Algorithms / by Abhinandan Jain.
Tipo de material: TextoDescripción: XX, 512p. online resourceISBN: 9781441972675 99781441972675Tema(s): Engineering | Engineering | STATISTICAL PHYSICS, DYNAMICAL SYSTEMS AND COMPLEXITY | MECHANICS, APPLIED | THEORETICAL AND APPLIED MECHANICS | VIBRATION | VIBRATIONClasificación CDD: 620.1 Recursos en línea: ir a documentoTipo de ítem | Ubicación actual | Colección | Signatura | Info Vol | Copia número | Estado | Fecha de vencimiento | Código de barras | Reserva de ítems |
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DOCUMENTOS DIGITALES | Biblioteca Jorge Álvarez Lleras | Digital | 620.1 223 (Navegar estantería) | Ej. 1 | 1 | Disponible | D000659 |
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.
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.
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