3D motion of rigid bodies [electronic resource] : a foundation for robot dynamics analysis / by Ernesto Olguin Diaz.
- 作者: Olguin Diaz, Ernesto.
- 其他作者:
- 其他題名:
- Studies in systems, decision and control ;
- 出版: Cham : Springer International Publishing :Imprint: Springer 2019.
- 叢書名: Studies in systems, decision and control,v.191
- 主題: Robots. , Robots--Dynamics. , Dynamics, Rigid. , Computational Intelligence. , Robotics and Automation. , Vibration, Dynamical Systems, Control. , Control and Systems Theory.
- ISBN: 9783030042752 (electronic bk.) 、 9783030042745 (paper)
- URL:
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電子書(校內)
- 一般註:Mathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint. E1084學校採購電子書
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讀者標籤:
- 系統號: 000274346 | 機讀編目格式
館藏資訊

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.
摘要註
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.




