Robot and Multibody Dynamics

Analysis and Algorithms

  • Abhinandan┬áJain

Table of contents

  1. Front Matter
    Pages i-xix
  2. Serial-Chain Dynamics

    1. Front Matter
      Pages 1-1
    2. Abhinandan Jain
      Pages 3-15
    3. Abhinandan Jain
      Pages 17-34
    4. Abhinandan Jain
      Pages 35-55
    5. Abhinandan Jain
      Pages 57-73
    6. Abhinandan Jain
      Pages 75-96
    7. Abhinandan Jain
      Pages 97-114
    8. Abhinandan Jain
      Pages 115-131
  3. General Multibody Systems

    1. Front Matter
      Pages 132-132
    2. Abhinandan Jain
      Pages 135-157
    3. Abhinandan Jain
      Pages 159-185
    4. Abhinandan Jain
      Pages 187-208
    5. Abhinandan Jain
      Pages 209-227
    6. Abhinandan Jain
      Pages 229-243
    7. Abhinandan Jain
      Pages 245-269
  4. Advanced Topics

    1. Front Matter
      Pages 271-271
    2. Abhinandan Jain
      Pages 273-296
    3. Abhinandan Jain
      Pages 297-311
    4. Abhinandan Jain
      Pages 313-330
    5. Abhinandan Jain
      Pages 331-351
    6. Abhinandan Jain
      Pages 379-395
  5. Back Matter
    Pages 397-510

About this book


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.


Spatial Operator Algebra (SOA) articulated multibody systems computational algorithms mathematical modeling tools multibody dynamics serial chain dynamics space manipulators spatial operators

Authors and affiliations

  • Abhinandan┬áJain
    • 1
  1. 1.Jet Propulsion LaboratoryPasadenaUSA

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media, LLC 2011
  • Publisher Name Springer, Boston, MA
  • eBook Packages Engineering
  • Print ISBN 978-1-4419-7266-8
  • Online ISBN 978-1-4419-7267-5
  • Buy this book on publisher's site
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