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This book discusses the dynamic analysis of rigid-flexible robots
and multibody systems with serial as well as closed-loop
architecture. The book presents a formulation of dynamic model of
rigid-flexible robots based on the unique approach of de-coupling
of natural orthogonal complements of velocity constraints. Based on
this formulation, a computationally efficient and numerically
stable forward dynamics algorithms for serial-chain and closed-loop
robotic systems with rigid or flexible or rigid-flexible links is
presented. The proposed algorithm is shown to be a numerically
efficient for forward dynamics based on the investigation
methodologies built on eigen value analytics. Precision and
functionality of the simulation algorithms is presented/illustrated
with application on different serial and closed-loop systems (both
planar and spatial types). Some of the major robotic arms used to
illustrate the proposed dynamic formulation and simulation
algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is
envisaged that the book will be useful for researchers working on
the development of rigid-flexible robots for use in defense, space,
atomic energy, ocean exploration, and the manufacturing of
biomedical equipment.
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