Robot Dynamics Algorithms
oct 2007 · The Springer International Series in Engineering and Computer Science Libro 22 · Springer
Libro electrónico
211
Páginas
reportLas calificaciones y opiniones no están verificadas. Más información
Acerca de este libro electrónico
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.
Califica este libro electrónico
Cuéntanos lo que piensas.
Información de lectura
Smartphones y tablets
Instala la app de Google Play Libros para Android y iPad/iPhone. Como se sincroniza de manera automática con tu cuenta, te permite leer en línea o sin conexión en cualquier lugar.
Laptops y computadoras
Para escuchar audiolibros adquiridos en Google Play, usa el navegador web de tu computadora.
Lectores electrónicos y otros dispositivos
Para leer en dispositivos de tinta electrónica, como los lectores de libros electrónicos Kobo, deberás descargar un archivo y transferirlo a tu dispositivo. Sigue las instrucciones detalladas que aparecen en el Centro de ayuda para transferir los archivos a lectores de libros electrónicos compatibles.
