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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.
List 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.
Summary
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.
Additional text
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)
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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)
