Multibody System Dynamics, Robotics and Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Multibody System Dynamics, Robotics and Control write by Hubert Gattringer. This book was released on 2013-01-06. Multibody System Dynamics, Robotics and Control available in PDF, EPUB and Kindle. The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Dynamics of Underactuated Multibody Systems
Dynamics of Underactuated Multibody Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics of Underactuated Multibody Systems write by Robert Seifried. This book was released on 2013-11-08. Dynamics of Underactuated Multibody Systems available in PDF, EPUB and Kindle. Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Robot and Multibody Dynamics
Robot and Multibody Dynamics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot and Multibody Dynamics write by Abhinandan Jain. This book was released on 2010-12-17. Robot and Multibody Dynamics available in PDF, EPUB and Kindle. 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.
Multibody Systems Handbook
Multibody Systems Handbook - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Multibody Systems Handbook write by Werner Schiehlen. This book was released on 2012-12-06. Multibody Systems Handbook available in PDF, EPUB and Kindle. Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a considerable number of computer codes based on multibody formalisms is now available. With the present book it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. All authors dealt with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism.
Dynamics of Rigid-Flexible Robots and Multibody Systems
Dynamics of Rigid-Flexible Robots and Multibody Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics of Rigid-Flexible Robots and Multibody Systems write by Paramanand Vivekanand Nandihal. This book was released on 2021-11-28. Dynamics of Rigid-Flexible Robots and Multibody Systems available in PDF, EPUB and Kindle. This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.
