rigid body dynamics algorithms

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Rigid Body Dynamics Algorithms

Author : Roy Featherstone
ISBN : 9781489975607
Genre : Education
File Size : 35. 62 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.

Robot Dynamics Algorithms

Author : Roy Featherstone
ISBN : 9780387743158
Genre : Technology & Engineering
File Size : 38. 20 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.

Euro Par 2009 Parallel Processing

Author : Henk Sips
ISBN : 9783642038693
Genre : Computers
File Size : 62. 90 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.

Dynamics Of Particles And Rigid Bodies

Author : Anil Rao
ISBN : 0521858119
Genre : Science
File Size : 61. 85 MB
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This 2006 work is intended for students who want a rigorous, systematic, introduction to engineering dynamics.

Motion In Games

Author : Marcelo Kallmann
ISBN : 9783642347108
Genre : Computers
File Size : 36. 63 MB
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This book constitutes the refereed proceedings of the 5th International Workshop on Motion in Games, held in Rennes, France, in November 2012. The 23 revised full papers presented together with 9 posters and 5 extended abstracts were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on planning, interaction, physics, perception, behavior, virtual humans, locomotion, and motion capture.

Robot And Multibody Dynamics

Author : Abhinandan Jain
ISBN : 1441972676
Genre : Technology & Engineering
File Size : 43. 88 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.

Fundamentals Of Multibody Dynamics

Author : Farid Amirouche
ISBN : 0817642366
Genre : Technology & Engineering
File Size : 28. 54 MB
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This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.

Dynamic Simulations Of Multibody Systems

Author : Murilo G. Coutinho
ISBN : 9781475734768
Genre : Computers
File Size : 53. 63 MB
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This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.

Proceedings Of The Asme Design Engineering Division

Author : American Society of Mechanical Engineers. Design Engineering Division
ISBN : 0791847675
Genre : CAD/CAM systems
File Size : 74. 40 MB
Format : PDF
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Computational Granular Dynamics

Author : Thorsten Pöschel
ISBN : 9783540214854
Genre : Computers
File Size : 36. 66 MB
Format : PDF
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Computer simulations not only belong to the most important methods for the theoretical investigation of granular materials, but also provide the tools that have enabled much of the expanding research by physicists and engineers. The present book is intended to serve as an introduction to the application of numerical methods to systems of granular particles. Accordingly, emphasis is placed on a general understanding of the subject rather than on the presentation of the latest advances in numerical algorithms. Although a basic knowledge of C++ is needed for the understanding of the numerical methods and algorithms in the book, it avoids usage of elegant but complicated algorithms to remain accessible for those who prefer to use a different programming language. While the book focuses more on models than on the physics of granular material, many applications to real systems are presented.

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