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Written by experts in the field, this text provides a modern introduction to three-dimensional dynamics for multibody systems. It covers rotation matrices, the twist-wrench formalism for multibody dynamics and Lagrangian dynamics, an approach that is often overlooked at the undergraduate level. The only prerequisites are differential equations and linear algebra as covered in a first-year engineering mathematics course. The text focuses on obtaining and understanding the equations of motion, featuring a rich set of examples and exercises that are drawn from real-world scenarios. Readers develop a reliable physical intuition that can then be used to apply dynamic analysis software tools, and to develop simplified approximate models. With this foundation, they will be able to confidently use the equations of motion in a variety of applications, ranging from simulation and design to motion planning and control.
List of contents
1. Introduction; 2. Kinematics; 3. Particle dynamics; 4. Dynamics of a rigid body; 5. Multibody dynamics: a twist-wrench formulation; 6. Lagrangian dynamics; 7. Linearized dynamics; Appendix. Linear algebra and matrix theory basics; Index.
About the author
Frank C. Park is Professor of Mechanical Engineering at Seoul National University. He is author (with Kevin Lynch) of the book 'Modern Robotics' (2017) and developer of the EdX course 'Robot Mechanics and Control Parts I-II.' He is a fellow of the IEEE, former editor-in-chief of the 'IEEE Transactions on Robotics,' and past president of the IEEE Robotics and Automation Society.Kyu Min Park is Assistant Professor with the Department of Artificial Intelligence and Robotics, Sejong University, Seoul, where he teaches courses related to robotics, dynamics, mathematics, artificial intelligence, and programming. He co-authored the book 'Collision Detection for Robot Manipulators: Methods and Algorithms' (2023).
