About this book
This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots.
The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.
- DOI https://doi.org/10.1007/978-94-007-5006-7
- Copyright Information Springer Science+Business Media Dordrecht 2013
- Publisher Name Springer, Dordrecht
- eBook Packages Engineering
- Print ISBN 978-94-007-5005-0
- Online ISBN 978-94-007-5006-7
- Series Print ISSN 2213-8986
- Series Online ISSN 2213-8994
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