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Robot Dynamics Algorithms: v. 22 (The Springer International Series in Engineering and Computer Science) - Hardcover
Inhaltsangabe
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.
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Críticas
From the reviews:
“This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics ... . is centered on mechanical models made up of many rigid bodies connected by joints. ... The book is written in a clear way. Each chapter begins by stating the objectives to be achieved. The algorithms presented are well documented and worked examples are also given. ... the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems.” (A. San Miguel, Mathematical Reviews, Issue 2011 h)Reseña del editor
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.
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Robotics: Vision, Manipulation and Sensors: Robot Dynamics Algorithms
Verlag:
Kluwer Academic Publishers, 1987
ISBN 10: 0898382300
ISBN 13: 9780898382303
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Hardcover
Anbieter: Anybook.com, Lincoln, Vereinigtes Königreich
Verkäuferbewertung 5 von 5 Sternen
Zustand: Good. This is an ex-library book and may have the usual library/used-book markings inside.This book has hardback covers. In good all round condition. No dust jacket. Please note the Image in this listing is a stock photo and may not match the covers of the actual item,650grams, ISBN:0898382300. Bestandsnummer des Verkäufers 4838909
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Beispielbild für diese ISBN
Robot Dynamics Algorithms: v. 22 (The Springer International Series in Engineering and Computer Science)
Verlag:
Kluwer Academic Publishers, 1987
ISBN 10: 0898382300
ISBN 13: 9780898382303
Gebraucht
Hardcover
Anbieter: Bay Books, Bradwell on Sea, Vereinigtes Königreich
Verkäuferbewertung 5 von 5 Sternen
Hardcover. Zustand: Very Good. No Jacket. Ex-library copy with stamps and labels. Book itself looks in nearly new condition. Bestandsnummer des Verkäufers 14
Anzahl: 1 verfügbar