Studies in Systems, Decision and Control

3D Motion of Rigid Bodies

A Foundation for Robot Dynamics Analysis

Authors: Olguin Diaz, Ernesto

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  • 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​
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  • ISBN 978-3-030-04275-2
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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 (and differences between) the different formulations.

Buy this book

eBook n/a
  • ISBN 978-3-030-04275-2
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
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Bibliographic Information

Bibliographic Information
Book Title
3D Motion of Rigid Bodies
Book Subtitle
A Foundation for Robot Dynamics Analysis
Authors
Series Title
Studies in Systems, Decision and Control
Series Volume
191
Copyright
2019
Publisher
Springer International Publishing
Copyright Holder
Springer Nature Switzerland AG
eBook ISBN
978-3-030-04275-2
DOI
10.1007/978-3-030-04275-2
Series ISSN
2198-4182
Edition Number
1
Number of Pages
XXIII, 474
Number of Illustrations
15 b/w illustrations, 120 illustrations in colour
Topics