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Engineering - Robotics | Dynamics of Tree-Type Robotic Systems

Dynamics of Tree-Type Robotic Systems

Vijaykumar Shah, Suril, Saha, Subir Kumar, Dutt, Jayanta Kumar

2013, XII, 251 p. 145 illus., 19 illus. in color.

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  • Indispensible one stop resource
  • Presents a framework for dynamic modeling and analysis of tree-type robotic systems
  • World renowned experts

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.

Content Level » Research

Keywords » dynamics - kinematic modules - legged robots - multibody dynamics - recursive algorithms - tree-type robotic systems

Related subjects » Mathematics - Mechanics - Robotics

Table of contents 

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

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