Rigid Body Dynamics Algorithms

Autore: Roy Featherstone
Editore: Springer
ISBN: 1489975608
Grandezza: 29,42 MB
Formato: PDF, Kindle
Vista: 5830
Download

Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

Robot Dynamics Algorithms

Autore: Roy Featherstone
Editore: Springer
ISBN: 0387743154
Grandezza: 71,46 MB
Formato: PDF, ePub, Docs
Vista: 6982
Download

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.

Robot And Multibody Dynamics

Autore: Abhinandan Jain
Editore: Springer Science & Business Media
ISBN: 9781441972675
Grandezza: 27,43 MB
Formato: PDF, Mobi
Vista: 9075
Download

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Dynamics Of Particles And Rigid Bodies

Autore: Anil Rao
Editore: Cambridge University Press
ISBN: 9780521858113
Grandezza: 50,68 MB
Formato: PDF, Mobi
Vista: 6850
Download

This 2006 work is intended for students who want a rigorous, systematic, introduction to engineering dynamics.

Fundamentals Of Robotic Mechanical Systems

Autore: Jorge Angeles
Editore: Springer Science & Business Media
ISBN: 9780387953687
Grandezza: 16,49 MB
Formato: PDF, Docs
Vista: 2497
Download

Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).

Fundamentals Of Multibody Dynamics

Autore: Farid Amirouche
Editore: Springer Science & Business Media
ISBN: 9780817642365
Grandezza: 72,54 MB
Formato: PDF, Kindle
Vista: 7365
Download

This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.

Multibody Dynamics

Autore: Zdravko Terze
Editore: Springer
ISBN: 3319072609
Grandezza: 12,79 MB
Formato: PDF, Docs
Vista: 582
Download

By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

Euro Par 2009 Parallel Processing

Autore: Henk Sips
Editore: Springer
ISBN: 3642038697
Grandezza: 60,47 MB
Formato: PDF, ePub, Docs
Vista: 1523
Download

Euro-Par is an annual series of international conferences dedicated to the p- motion and the advancement of all aspects of parallel computing. In Euro-Par, the ?eld of parallel computing is divided into the four broad categories of t- ory, high performance, cluster and grid, and distributed and mobile computing. These categories are further subdivided into 14 topics that focus on particular areas in parallel computing. The objective of Euro-Par is to provide a forum for promoting the development of parallel computing both as an industrial te- nique and as an academic discipline, extending the frontier of both the state of the art and the state of the practice. The target audience of Euro-Par c- sists of researchers in parallel computing in academic departments, government laboratories, and industrial organizations. Euro-Par 2009 was the 15th conference in the Euro-Par series, and was - ganized by the Parallel and Distributed Systems Group of Delft University of Technology in Delft, The Netherlands. The previous Euro-Par conferences took placeinStockholm,Lyon,Passau,Southampton,Toulouse,Munich,Manchester, Paderborn,Klagenfurt,Pisa,Lisbon, Dresden, Rennes, and Las Palmasde Gran Canaria. Next year, the conference will be held in Sorrento, Italy. More inf- mation on the Euro-Par conference series and organization is available on its website athttp://www.europar.org.

Rigid Body Dynamics For Beginners

Autore: Phil Kim
Editore: CreateSpace
ISBN: 9781493598205
Grandezza: 45,51 MB
Formato: PDF, ePub
Vista: 4928
Download

Has anyone experienced difficulty and confusion in understanding what the Euler angles, quaternions, and direction cosine matrices are, and furthermore, about the relationships among them? This book is for those who had struggled to figure out what all the aforementioned concepts are, and also provides a practical example that could be easily followed with MATLAB. In addition, some surface of linear motions will also be touched so that in the end, a set of equations of motion that describe the motion of a rigid body in three-dimensional space could be constructed. Following step by step, the reader will be gradually immersed into the joy of learning and applying basic attitude dynamics. The book will be good for those who are already familiar in the field by helping them reorganize the concepts and knowledge they have learned before.

Dynamics Of Parallel Robots

Autore: Sébastien Briot
Editore: Springer
ISBN: 3319197886
Grandezza: 42,46 MB
Formato: PDF, Docs
Vista: 4235
Download

This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Dynamic Simulations Of Multibody Systems

Autore: Murilo G. Coutinho
Editore: Springer Science & Business Media
ISBN: 147573476X
Grandezza: 67,33 MB
Formato: PDF, Kindle
Vista: 2517
Download

This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.

System Dynamics And Long Term Behaviour Of Railway Vehicles Track And Subgrade

Autore: Karl Popp
Editore: Springer Science & Business Media
ISBN: 9783540438922
Grandezza: 28,51 MB
Formato: PDF, Kindle
Vista: 792
Download

During the last decades completely new technologies for high speed railway vehicles have been developed. The primary goals have been to increase traction, axle load, and travelling speed, and to guarantee the safety of the passengers. However, new developments have revealed new limitations: settlement and destruction of the ballast and the subgrade lead to deterioration of the track; irregular wear of the wheels causes an increase in overall load and deterioration in passenger comfort; and damage of the running surfaces of the rail and the wheel is becoming more frequent. These problems have been investigated in the Priority Programme SPP 1015 supported by the Deutsche Forschungsgemeinschaft (DFG), with the goal of better understanding of the dynamic interaction of vehicle and track, and the long-term behavior of the components of the system. The book contains the scientific results of the programme as presented at the concluding colloquium held at University of Stuttgart, Germany, 2002.

Guide To Dynamic Simulations Of Rigid Bodies And Particle Systems

Autore: Murilo G. Coutinho
Editore: Springer Science & Business Media
ISBN: 1447144171
Grandezza: 46,54 MB
Formato: PDF, ePub
Vista: 1023
Download

This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid-body systems. The text focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic-simulation engines. Each chapter examines numerous algorithms, describing their design and analysis in an accessible manner, without sacrificing depth of coverage or mathematical rigor. Features: examines the problem of computing an hierarchical representation of the geometric description of each simulated object, as well as the simulated world; discusses the use of discrete and continuous collision detection to handle thin or fast-moving objects; describes the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts; presents techniques that can be used to dynamically simulate articulated rigid bodies; concludes each chapter with exercises.

Rigid Body Dynamics Of Mechanisms 2

Autore: Hubert Hahn
Editore: Springer Science & Business Media
ISBN: 9783540022374
Grandezza: 50,91 MB
Formato: PDF, Mobi
Vista: 5609
Download

Intended for self-study, this second volume presents a systematic approach for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume. The focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, as well as active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. Its examples can be used as models for university lectures.

Rigid Body Dynamics Of Mechanisms

Autore: Hubert Hahn
Editore: Springer Science & Business Media
ISBN: 9783540423737
Grandezza: 67,74 MB
Formato: PDF, Docs
Vista: 5617
Download

This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.

Stepping Into Virtual Reality

Autore: Mario Gutierrez
Editore: Springer Science & Business Media
ISBN: 9781848001176
Grandezza: 77,79 MB
Formato: PDF, Kindle
Vista: 5524
Download

Virtual reality techniques are increasingly becoming indispensable in many areas. This book looks at how to generate advanced virtual reality worlds. It covers principles, techniques, devices and mathematical foundations, beginning with basic definitions, and then moving on to the latest results from current research and exploring the social implications of these. Very practical in its approach, the book is fully illustrated in colour and contains numerous examples, exercises and case studies. This textbook will allow students and practitioners alike to gain a practical understanding of virtual reality concepts, devices and possible applications.

Dynamic Analysis Of Robot Manipulators

Autore: Constantinos A. Balafoutis
Editore: Springer Science & Business Media
ISBN: 1461539528
Grandezza: 26,34 MB
Formato: PDF, ePub, Docs
Vista: 6568
Download

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.

Proceedings Of The Asme Design Engineering Technical Conferences

Autore:
Editore:
ISBN:
Grandezza: 12,70 MB
Formato: PDF, Mobi
Vista: 2967
Download


Fundamentals In Modeling And Control Of Mobile Manipulators

Autore: Zhijun Li
Editore: CRC Press
ISBN: 1466580410
Grandezza: 80,93 MB
Formato: PDF, Docs
Vista: 2287
Download

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.