Overview
- Presents the basics of rigid body mechanics, together with useful applications for robotics
- Provides simple tools for describing the 3D motion of rigid bodies
- Offers a simple way of expressing a single dynamic equation for the motion of single rigid bodies?
Part of the book series: Studies in Systems, Decision and Control (SSDC, volume 191)
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Table of contents (8 chapters)
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Front Matter
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Fundamentals
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Front Matter
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Free Motion of Single Rigid Body
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Front Matter
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Constraint Motion of a Single Rigid Body
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Front Matter
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Back Matter
Keywords
About this book
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 (anddifferences between) the different formulations.Reviews
“This book is a useful text for an advanced course on the dynamic modelling of multi-body mechanical systems, and provides readers a more clear understanding in the area of robots modeling and control. … the intended audience consisting of mechanical and control researchers and engineers or graduate and PhD students in in the classical mechanics, robotics and mechatronics will find enough material that can be of some help in their independent studies.” (Clementina Mladenova, zbMATH 1435.70001, 2020)
Authors and Affiliations
Bibliographic Information
Book Title: 3D Motion of Rigid Bodies
Book Subtitle: A Foundation for Robot Dynamics Analysis
Authors: Ernesto Olguín Díaz
Series Title: Studies in Systems, Decision and Control
DOI: https://doi.org/10.1007/978-3-030-04275-2
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2019
Hardcover ISBN: 978-3-030-04274-5Published: 23 January 2019
eBook ISBN: 978-3-030-04275-2Published: 06 December 2018
Series ISSN: 2198-4182
Series E-ISSN: 2198-4190
Edition Number: 1
Number of Pages: XXIII, 474
Number of Illustrations: 15 b/w illustrations, 120 illustrations in colour
Topics: Computational Intelligence, Robotics and Automation, Vibration, Dynamical Systems, Control, Control and Systems Theory