Providing a unique bridge between the foundations of analytical
mechanics and application to multi-body dynamical systems, this
textbook is particularly well suited for graduate students seeking
an understanding of the theoretical underpinnings of analytical
mechanics, as well as modern task space approaches for representing
the resulting dynamics that can be exploited for real-world
problems in areas such as biomechanics and robotics. Established
principles in mechanics are presented in a thorough and modern way.
The chapters build up from general mathematical foundations, an
extensive treatment of kinematics, and then to a rigorous treatment
of conservation and variational principles in mechanics. Parallels
are drawn between the different approaches, providing the reader
with insights that unify his or her understanding of analytical
dynamics. Additionally, a unique treatment is presented on task
space dynamical formulations that map traditional configuration
space representations into more intuitive geometric spaces.
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