Books > Reference & Interdisciplinary > Communication studies > Information theory > Cybernetics & systems theory
|
Buy Now
Robot Dynamics Algorithms (Paperback, Softcover reprint of the original 1st ed. 1987)
Loot Price: R1,448
Discovery Miles 14 480
|
|
Robot Dynamics Algorithms (Paperback, Softcover reprint of the original 1st ed. 1987)
Series: The Springer International Series in Engineering and Computer Science, 22
Expected to ship within 10 - 15 working days
|
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."
General
Is the information for this product incomplete, wrong or inappropriate?
Let us know about it.
Does this product have an incorrect or missing image?
Send us a new image.
Is this product missing categories?
Add more categories.
Review This Product
No reviews yet - be the first to create one!
|
You might also like..
|
Email address subscribed successfully.
A activation email has been sent to you.
Please click the link in that email to activate your subscription.