Rigid Body Dynamics Algorithms

Author: Roy Featherstone
Editor: Springer
ISBN: 1489975608
Size: 12,82 MB
Format: PDF, Docs
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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

Author: Roy Featherstone
Editor: Springer
ISBN: 0387743154
Size: 15,47 MB
Format: PDF
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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.

Euro Par 2009 Parallel Processing

Author: Henk Sips
Editor: Springer
ISBN: 3642038697
Size: 19,18 MB
Format: PDF, ePub, Mobi
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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.

Motion In Games

Author: Marcelo Kallmann
Editor: Springer
ISBN: 364234710X
Size: 14,98 MB
Format: PDF
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This book constitutes the refereed proceedings of the 5th International Workshop on Motion in Games, held in Rennes, France, in November 2012. The 23 revised full papers presented together with 9 posters and 5 extended abstracts were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on planning, interaction, physics, perception, behavior, virtual humans, locomotion, and motion capture.

Robot And Multibody Dynamics

Author: Abhinandan Jain
Editor: Springer Science & Business Media
ISBN: 9781441972675
Size: 18,49 MB
Format: PDF, Docs
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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

Author: Anil Rao
Editor: Cambridge University Press
ISBN: 9780521858113
Size: 16,66 MB
Format: PDF, ePub
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This 2006 work is intended for students who want a rigorous, systematic, introduction to engineering dynamics.

Rigid Body Dynamics For Beginners

Author: Phil Kim
Editor: CreateSpace
ISBN: 9781493598205
Size: 20,64 MB
Format: PDF
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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.

Rigid Body Dynamics With Constraints

Author: Marek Vondrak
Editor: LAP Lambert Academic Publishing
ISBN: 9783844312652
Size: 19,90 MB
Format: PDF, ePub
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We address the problem of simulating motion of rigid bodies and articulated rigid bodies with constraints. Our key goal is to explain all necessary aspects of the dynamics theory such that readers can go ahead and implement their own full-featured simulators after they have finished reading this book. The book consists of a theoretical part and an implementation part. The first part describes the complete theory that underlies physical dynamics and simulation and algorithms that lead to the construction of a functional simulator. The second part describes the proposed simulator in greater detail. It also describes a figure library for modelling motion of articulated bodies using constraints. To make the manuscript as accessible to general audience as possible, we do not assume any prior knowledge of simulation and explain the entire theory from the ground up. The book helps video game developers and computer graphics researchers understand existing physics libraries as well as build new ones. Furthermore, the understanding of the theory can be exploited for building new algorithms for controlling motion of humanoid characters using constraints in computer graphics.

Advanced Dynamics

Author: Reza N. Jazar
Editor: John Wiley & Sons
ISBN: 9780470892138
Size: 13,19 MB
Format: PDF, Mobi
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A thorough understanding of rigid body dynamics as it relates to modern mechanical and aerospace systems requires engineers to be well versed in a variety of disciplines. This book offers an all-encompassing view by interconnecting a multitude of key areas in the study of rigid body dynamics, including classical mechanics, spacecraft dynamics, and multibody dynamics. In a clear, straightforward style ideal for learners at any level, Advanced Dynamics builds a solid fundamental base by first providing an in-depth review of kinematics and basic dynamics before ultimately moving forward to tackle advanced subject areas such as rigid body and Lagrangian dynamics. In addition, Advanced Dynamics: Is the only book that bridges the gap between rigid body, multibody, and spacecraft dynamics for graduate students and specialists in mechanical and aerospace engineering Contains coverage of special applications that highlight the different aspects of dynamics and enhances understanding of advanced systems across all related disciplines Presents material using the author's own theory of differentiation in different coordinate frames, which allows for better understanding and application by students and professionals Both a refresher and a professional resource, Advanced Dynamics leads readers on a rewarding educational journey that will allow them to expand the scope of their engineering acumen as they apply a wide range of applications across many different engineering disciplines.