rigid body dynamics algorithms

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Rigid Body Dynamics Algorithms

Author : Roy Featherstone
ISBN : 9781489975607
Genre : Education
File Size : 36. 83 MB
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Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

Einf Hrung In Die Mechanik Und Symmetrie

Author : Jerrold E. Marsden
ISBN : 9783642568596
Genre : Mathematics
File Size : 83. 49 MB
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Symmetrie spielt in der Mechanik eine große Rolle. Dieses Buch beschreibt die Entwicklung zugrunde liegender Theorien. Besonderes Gewicht wird der Symmetrie beigemessen. Ursache hierfür sind Entwicklungen im Bereich dynamischer Systeme, der Einsatz geometrischer Verfahren und neue Anwendungen. Dieses Lehrbuch stellt Grundlagen bereit und beschreibt zahlreiche spezifische Anwendungen. Interessant für Physiker und Ingenieure. Ausgewählte Beispiele, Anwendungen, aktuelle Verfahren/Techniken veranschaulichen die Theorie.

Dynamics Of Systems Of Rigid Bodies

Author : Jens Wittenburg
ISBN : 9783322909428
Genre : Technology & Engineering
File Size : 21. 27 MB
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Robot Dynamics Algorithms

Author : Roy Featherstone
ISBN : 1475764375
Genre : Technology & Engineering
File Size : 21. 85 MB
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The purpose of this book is to present computationally efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies. The efficiency is achieved by the use of recursive formulations of the equations of motion, i.e. formulations in which the equations of motion are expressed implicitly in terms of recurrence relations between the quantities describing the system. The use of recursive formulations in dynamics is fairly new, 50 the principles of their operation and reasons for their efficiency are explained. Three main algorithms are described: the recursIve Newton-Euler formulation for inverse dynamics (the calculation of the forces given the accelerations), and the composite-rigid-body and articulated-body methods for forward dynamics (the calculation of the accelerations given the forces). These algorithms are initially described in terms of an un-branched, open loop kinematic chain -- a typical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algori?hms on a computer.

Robot And Multibody Dynamics

Author : Abhinandan Jain
ISBN : 1441972676
Genre : Technology & Engineering
File Size : 50. 16 MB
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Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Mathematik F R Ingenieure

Author : Wolfgang Brauch
ISBN : 9783322918307
Genre : Mathematics
File Size : 48. 35 MB
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Alles in einem Band - Ingenieurmathematik spannend erklärt. Für den Einstieg in die Mathematik: So kurz wie möglich, so ausführlich wie nötig. Lösen Sie praxisbezogene Aufgaben und sorgen Sie so für Ihren Prüfungserfolg. Schlagen Sie die Brücke von der Theorie zu den Anwendungen!

Dynamics Of Particles And Rigid Bodies

Author : Anil Rao
ISBN : 0521858119
Genre : Science
File Size : 53. 2 MB
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This 2006 work is intended for students who want a rigorous, systematic, introduction to engineering dynamics.

Multibody Dynamics

Author : Zdravko Terze
ISBN : 9783319072609
Genre : Technology & Engineering
File Size : 22. 27 MB
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By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

Kalman Filter F R Einsteiger

Author : Phil Kim
ISBN : 1502723786
Genre :
File Size : 67. 78 MB
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Das Kalman-Filter ist eine Wunderwaffe, wenn es darum geht digitale Signale in Echtzeit vom Rauschen zu befreien,nicht messbare Signale zu sch�tzen, Objekte zu tracken, Daten zu fusionieren und Messaussetzer zu �berbr�cken.Es findet Anwendung in Robotern, Raketen, Automobilen und selbst in M�hrobotern und autonomen Staubsaugern. H�ufig sind Ingenieurinnen und Ingenieure jedoch von der umfassenden Mathematik abgeschreckt. Das Buch "Kalman-Filter f�r Einsteiger" w�hlt einen unkonventionellen Einstieg in diese aktuelle Filtertechnik.Es beschreibt pragmatisch anhand von zahlreichen MATLAB(R)-Beispielen die Grundlagen des Filters und lehrt die Auslegung ohnemathematische Herleitungen. Dieses Buch erleichtert den Einstieg in die Signalverarbeitung und macht Sie in kurzer Zeit zu Kalman-Filter-Anwendungsprofis.

Euro Par 2009 Parallel Processing

Author : Henk Sips
ISBN : 9783642038693
Genre : Computers
File Size : 90. 42 MB
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Euro-Par is an annual series of international conferences dedicated to the p- motion and the advancement of all aspects of parallel computing. In Euro-Par, the ?eld of parallel computing is divided into the four broad categories of t- ory, high performance, cluster and grid, and distributed and mobile computing. These categories are further subdivided into 14 topics that focus on particular areas in parallel computing. The objective of Euro-Par is to provide a forum for promoting the development of parallel computing both as an industrial te- nique and as an academic discipline, extending the frontier of both the state of the art and the state of the practice. The target audience of Euro-Par c- sists of researchers in parallel computing in academic departments, government laboratories, and industrial organizations. Euro-Par 2009 was the 15th conference in the Euro-Par series, and was - ganized by the Parallel and Distributed Systems Group of Delft University of Technology in Delft, The Netherlands. The previous Euro-Par conferences took placeinStockholm,Lyon,Passau,Southampton,Toulouse,Munich,Manchester, Paderborn,Klagenfurt,Pisa,Lisbon, Dresden, Rennes, and Las Palmasde Gran Canaria. Next year, the conference will be held in Sorrento, Italy. More inf- mation on the Euro-Par conference series and organization is available on its website athttp://www.europar.org.

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