Dynamics of Tree-Type Robotic Systems

AvSuril Vijaykumar Shah,Subir Kumar Saha

Häftad, Engelska, 2015

Del 62 i serien Intelligent Systems, Control and Automation: Science and Engineering

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Beskrivning

This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.

Produktinformation

Utgivningsdatum:2015-01-29
Mått:155 x 235 x 15 mm
Vikt:406 g
Format:Häftad
Språk:Engelska
Serie:Intelligent Systems, Control and Automation: Science and Engineering
Antal sidor:252
Upplaga:2013
Förlag:Springer
ISBN:9789401782050

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Recensioner i media

From the reviews: "This is a relatively compact, but yet detailed, book on modeling and analysis of 'tree-type' robotic systems. ... Although the authors have prepared a concise, readable description of rather specialized topics, the reviewer believes the work is better suited for developmental researchers and engineers ... . The book quality, the illustrations, and the editing are all excellent." (Ronald L. Huston, Zentralblatt MATH, Vol. 1264, 2013)

Innehållsförteckning

1 Introduction.- 2 Dynamics of Robotic Systems.- 3 Euler-Angle-Joints (EAJs).- 4 Kinematics of Tree-Type Robotic Systems.- 5 Dynamics of Tree-Type Robotic Systems.- 6 Recursive Dynamics for Fixed-Base Robotic Systems.- 7 Recursive Dynamics for Floating-Base Systems.- 8 Closed-Loop Systems.- 9 Controlled Robotic Systems.- 10 Recursive Dynamics Simulator (ReDySim).- Appendices.- References.-Index.