3D Motion of Rigid Bodies: A Foundation for Robot Dynamics Analysis

ISBN-13: 9783030042745 / Angielski / Twarda / 2019 / 474 str.

Ernesto Olguin Diaz

Recenzje

"This book is a useful text for an advanced course on the dynamic modelling of multi-body mechanical systems, and provides readers a more clear understanding in the area of robots modeling and control. ... the intended audience consisting of mechanical and control researchers and engineers or graduate and PhD students in in the classical mechanics, robotics and mechatronics will find enough material that can be of some help in their independent studies." (Clementina Mladenova, zbMATH 1435.70001, 2020)

Spis treści

Mathematic Foundations.- Classical Mechanics.- Rigid Motion.- Attitude Representations.- Dynamics of a Rigid Body.- Spacial Vectors Approach.- Lagrangian Formulation.- Model reduction under motion constraint.

Blurb

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.