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3D Motion of Rigid Bodies = A Foundation for Robot Dynamics Analysis /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	3D Motion of Rigid Bodies/ by Ernesto Olguín Díaz.
其他題名:	A Foundation for Robot Dynamics Analysis /
作者:	Olguín Díaz, Ernesto.
面頁冊數:	XXIII, 474 p. 135 illus., 120 illus. in color.online resource. :
Contained By:	Springer Nature eBook
標題:	Computational intelligence. -
電子資源:	https://doi.org/10.1007/978-3-030-04275-2
ISBN:	9783030042752

3D Motion of Rigid Bodies = A Foundation for Robot Dynamics Analysis /
Olguín Díaz, Ernesto.

3D Motion of Rigid BodiesA Foundation for Robot Dynamics Analysis /[electronic resource] :by Ernesto Olguín Díaz. - 1st ed. 2019. - XXIII, 474 p. 135 illus., 120 illus. in color.online resource. - Studies in Systems, Decision and Control,1912198-4182 ;. - Studies in Systems, Decision and Control,27.

Mathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint.

This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton–Euler equations in any of their multiple expression forms. This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (and differences between) the different formulations.

ISBN: 9783030042752

Standard No.: 10.1007/978-3-030-04275-2doiSubjects--Topical Terms:

568984
Computational intelligence.

LC Class. No.: Q342

Dewey Class. No.: 006.3

3D Motion of Rigid Bodies = A Foundation for Robot Dynamics Analysis /
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