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The Springer International Series in Engineering and Computer Science

Dynamic Analysis of Robot Manipulators

A Cartesian Tensor Approach

Authors: Balafoutis, Constantinos A., Patel, Rajnikant V.

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About this book

The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par­ ticular, the following problems of rigid-link open-chain manipulator dynam­ ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com­ putationally efficient solutions of these problems are prerequisites for real­ time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor­ vector identities can be obtained. These identities enrich the theory of Carte­ sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip­ tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan­ tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.

Table of contents (7 chapters)

  • Introduction

    Balafoutis, C. A. (et al.)

    Pages 1-18

  • Notation,Terminology and Background Material

    Balafoutis, C. A. (et al.)

    Pages 19-46

  • Cartesian Tensor Analysis

    Balafoutis, C. A. (et al.)

    Pages 47-84

  • Cartesian Tensors and Rigid Body Motion

    Balafoutis, C. A. (et al.)

    Pages 85-116

  • Manipulator Inverse Dynamics

    Balafoutis, C. A. (et al.)

    Pages 117-182

Buy this book

eBook $149.00
price for USA (gross)
  • ISBN 978-1-4615-3952-0
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $249.00
price for USA
  • ISBN 978-0-7923-9145-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $199.00
price for USA
  • ISBN 978-1-4613-6764-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Dynamic Analysis of Robot Manipulators
Book Subtitle
A Cartesian Tensor Approach
Authors
Series Title
The Springer International Series in Engineering and Computer Science
Series Volume
131
Copyright
1991
Publisher
Springer US
Copyright Holder
The Editor(s) (if applicable) and The Author(s) 2018
eBook ISBN
978-1-4615-3952-0
DOI
10.1007/978-1-4615-3952-0
Hardcover ISBN
978-0-7923-9145-6
Softcover ISBN
978-1-4613-6764-2
Series ISSN
0893-3405
Edition Number
1
Number of Pages
XII, 292
Topics