Dynamics of Tree-Type Robotic Systems

2013
ISBN: 978-94-017-8205-0
Verlag: Springer Netherlands

Buch, Englisch, 252 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 4044 g

Reihe: Intelligent Systems, Control and Automation: Science and Engineering

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.

Zielgruppe

Research

Autoren/Hrsg.

Vijaykumar Shah, Suril

Dutt, Jayanta Kumar

Saha, Subir Kumar

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

1Introduction.- 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.