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This book addresses dynamic modelling methodology and analyses of
tree-type robotic systems. Such analyses are required to visualize
the motion of a system without really building it. The book
contains novel treatment of the tree-type systems using concept of
kinematic modules and the corresponding Decoupled Natural
Orthogonal Complements (DeNOC), unified representation of the
multiple-degrees-of freedom-joints, efficient recursive dynamics
algorithms, and detailed dynamic analyses of several legged robots.
The book will help graduate students, researchers and practicing
engineers in applying their knowledge of dynamics for analysis of
complex robotic systems. The knowledge contained in the book will
help one in virtual testing of robot operation, trajectory planning
and control.
This book addresses dynamic modelling methodology and analyses of
tree-type robotic systems. Such analyses are required to visualize
the motion of a system without really building it. The book
contains novel treatment of the tree-type systems using concept of
kinematic modules and the corresponding Decoupled Natural
Orthogonal Complements (DeNOC), unified representation of the
multiple-degrees-of freedom-joints, efficient recursive dynamics
algorithms, and detailed dynamic analyses of several legged robots.
The book will help graduate students, researchers and practicing
engineers in applying their knowledge of dynamics for analysis of
complex robotic systems. The knowledge contained in the book will
help one in virtual testing of robot operation, trajectory planning
and control.
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