Dynamic Analyses of Tree-Type Robotic Systems

Fixed- and Floating-Based Systems with and without Hydrodynamic Effects
2. Auflage 2027
ISBN: 978-981-9279-36-4
Verlag: Springer

Buch, Englisch, 257 Seiten, Format (B × H): 155 mm x 235 mm

This book presents a unified framework for the dynamic modelling and analysis of tree-type robotic systems, including systems operating under hydrodynamic effects. It introduces the concept of Euler-Angle Joints (EAJs) for representing multiple-degree-of-freedom rotary joints, including revolute, universal, and spherical joints, and develops the kinematic modelling of complex tree-type robotic systems using the concept of kinematic modules, where each module consists of a set of serially connected links. A central feature of the book is the use of Decoupled Natural Orthogonal Complement (DeNOC) matrices for dynamic modelling. The DeNOC-based formulation enables analytical characterization of the terms appearing in the equations of motion, decomposition of the Generalized Inertia Matrix (GIM) for improved physical insight, and systematic development of recursive inverse and forward dynamics algorithms. The book also presents methods for identifying link mass and inertia properties, motor inertia, joint-friction parameters, and hydrodynamic coefficients. The theoretical developments are demonstrated through fixed-base and floating-base robotic systems, with and without hydrodynamic effects. Applications include robotic grippers, planar and spatial bipeds, quadrupeds, hexapods, and tethered underwater vehicle–manipulator systems. Computed torque and feedforward controls are also considered to demonstrate the relevance of the proposed dynamic formulations to robot control. Combining theoretical foundations, computational methods, parameter identification, and practical case studies, the book provides a useful reference for researchers, graduate students, and practicing engineers working in robotics, multibody dynamics, and underwater robotic systems.

Zielgruppe

Research

Autoren/Hrsg.

Shah, Suril Vijaykumar

Sharma, Anil Kumar

Saha, Subir Kumar

Dutt, Jayanta Kumar

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz
• Technische Wissenschaften Technik Allgemein Technische Instrumentierung

Inhaltsverzeichnis

Introduction.- Dynamics of Robotic Systems.- Euler-Angle-Joints (EAJs).- Kinematics of Tree-Type Robotic Systems.- Dynamics of Tree-Type Robotic Systems.- Recursive Dynamics for Fixed-Base Robotic Systems.- Recursive Dynamics for Floating-Base Systems.

Über Autor(innen)

Suril Vijaykumar Shah is a Professor in the Department of Mechanical Engineering at the Indian Institute of Technology (IIT) Jodhpur. He received his Ph.D. from IIT Delhi in 2012 and subsequently worked as a postdoctoral research fellow at McGill University, Canada, specializing in space robotics, before joining IIIT Hyderabad as a Research Assistant Professor. He has been with IIT Jodhpur since 2015, where he established the RoboticsLaboratory and contributed to the development of the M.Tech. program in Robotics. His research interests include multibody dynamics, robotics, and control, with a particular interest in space robotics. He is actively engaged in research, teaching, and technology development in robotics. He is also a key developer of the Recursive Dynamics Simulator (ReDySim), a freely available software for modelling and analysis of robotic and multibody systems.   

Anil Kumar Sharma completed his M.Tech. in Machine Design (2014) and Ph.D. in Multibody Dynamics (2021) from IIT Delhi. His research focused on the dynamics and hydrodynamics of multibody systems, particularly underwater vehicle–manipulator systems (UVMS) with tether. During his Ph.D., he developed and experimentally investigated an autonomous mobile robot and a serial-chain robotic manipulator. His research interests include Robotics, Multibody Dynamics, Dynamic Simulation, Hydrodynamics, and Experimental System Identification. He has published his research in several international journals and conferences. Currently, he is working with the Washing Machine R&D Division of LG Soft India Private Limited, a subsidiary of LG Electronics. His work focuses on MBD CAE correlation and vibration-reduction strategies for front-load and top load washing machines.  

Prof. Subir Kumar Saha, a 1983 mechanical engineering graduate from the RE College (Now NIT), Durgapur, completed his M. Tech. from IIT Kharagpur, and Ph.D. from McGill University. Upon completion of his Ph.D., he joined Toshiba Corporation’s R&D Centre in Japan. After about 4-years of work experience in Japan, he has been with IIT Delhi since 1996. He established the Mechatronics Laboratory at IIT Delhi in 2001, contributed significantly in the setting up of the Programme for Autonomous Robotics(PAR) in 2010 with the financial assistance from BARC-BRNS Mumbai. He was also instrumental to start I-Hub Foundation for Cobotics (IHFC) as the Technology Innovation Hub (TIH) of IIT Delhi in 2020, which was set up by the DST, Govt. of India under its national mission on ICPS, in which Prof. Saha is the Project Director. Prof. Saha was awarded the Humboldt Fellowship in 1999 by the AvHFoundation, Germany, and Distinguished Alumnus Award for 2020 in Academic and Research by NIT Durgapur. His book "Introduction to Robotics" is one of the most popular text books on the subject since 2008. He has also commercialized a software RoboAnalyzer, a mobile robot RoboMuse, a mini-CNC lathe for making beads for Tulsi Malas that has largely impacted the lives of rural people in India.

Prof. Jayanta Kumar Dutt has been with the Department of Mechanical Engineering at IIT Delhi since 2005. Prior to that, he was with IIT Kharagpur during 1993-2005. His core research area includes Rotor dynamics, Vibration and control and Multibody dynamics. He has many research publications in reputed peer-reviewed journals, conference proceedings, and authored several book chapters, besides many patents. His multi-element control method is one of the most significant contributions in that domain, which was used by many researchers including the control of flexible robots.