Dynamics of Tree-Type Robotic Systems

Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt (Autoren)

Buch | Softcover

252 Seiten

2015
Springer (Verlag)
978-94-017-8205-0 (ISBN)

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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.

1 Introduction.- 2 Dynamics of Robotic Systems.- 3 Euler-Angle-Joints (EAJs).- 4 Kinematics of Tree-Type Robotic Systems.- 5 Dynamics of Tree-Type Robotic Systems.- 6 Recursive Dynamics for Fixed-Base Robotic Systems.- 7 Recursive Dynamics for Floating-Base Systems.- 8 Closed-Loop Systems.- 9 Controlled Robotic Systems.- 10 Recursive Dynamics Simulator (ReDySim).-
Appendices.- References.-Index.

Erscheint lt. Verlag	29.1.2015
Reihe/Serie	Intelligent Systems, Control and Automation: Science and Engineering ; 62
Zusatzinfo	XII, 252 p.
Verlagsort	Dordrecht
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Mathematik / Informatik ► Mathematik ► Algebra
	Mathematik / Informatik ► Mathematik ► Angewandte Mathematik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
ISBN-10	94-017-8205-9 / 9401782059
ISBN-13	978-94-017-8205-0 / 9789401782050
Zustand	Neuware