000 03207nam a22004575i 4500
001 978-1-4419-7267-5
003 DE-He213
005 20140220083723.0
007 cr nn 008mamaa
008 101218s2011 xxu| s |||| 0|eng d
020 _a9781441972675
_9978-1-4419-7267-5
024 7 _a10.1007/978-1-4419-7267-5
_2doi
050 4 _aTA349-359
072 7 _aTGMD
_2bicssc
072 7 _aTEC009070
_2bisacsh
072 7 _aSCI041000
_2bisacsh
082 0 4 _a620.1
_223
100 1 _aJain, Abhinandan.
_eauthor.
245 1 0 _aRobot and Multibody Dynamics
_h[electronic resource] :
_bAnalysis and Algorithms /
_cby Abhinandan Jain.
264 1 _aBoston, MA :
_bSpringer US,
_c2011.
300 _aXX, 512p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aSpatial vectors -- Single rigid body dynamics -- Differential kinematics for a serial-chain system -- The mass matrix -- Equations of motion for a serial chain system -- Articulated body models for serial chains -- Operator factorization and inversion of the mass matrix -- Forward dynamics -- Tree topology systems -- The operational space inertia -- Closed chain system dynamics -- Multi-arm manipulators -- Systems with hinge flexibility -- Systems with link flexibility -- Under-actuated systems -- Free-flying space manipulators -- Mass matrix sensitives -- Linearized dynamics models -- Sensitivity of innovations factors -- Diagnolized lagrangian dynamics -- Overview of optimal linear estimation theory.
520 _aRobot 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.
650 0 _aEngineering.
650 0 _aMechanics, applied.
650 0 _aVibration.
650 1 4 _aEngineering.
650 2 4 _aTheoretical and Applied Mechanics.
650 2 4 _aVibration, Dynamical Systems, Control.
650 2 4 _aStatistical Physics, Dynamical Systems and Complexity.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9781441972668
856 4 0 _uhttp://dx.doi.org/10.1007/978-1-4419-7267-5
912 _aZDB-2-ENG
999 _c105724
_d105724