Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
By Roy Featherstone
Publisher: Springer
Number Of Pages: 278
Publication Date: 2007-11-26
ISBN-10 / ASIN: 0387743146
ISBN-13 / EAN: 9780387743141
Binding: Hardcover
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 additionalgorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamicsalgorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Unique features include:
A comprehensive collection of the best rigid-body dynamics algorithms
Use of spatial (6D) vectors to greatly reduce the volume of algebra, to simplify the treatment of the subject, and to simplify the computer code that implements thealgorithms
Algorithms expressed both mathematically and in pseudocode for easy translation into computer programs
Source code for many algorithms available on the internet
Rigid Body Dynamics Algorithms is aimed at readers who already have some elementary knowledge of rigid-body dynamics, and are interested in calculating the dynamics of a rigid-body system. This book serves as an algorithms recipe book as well as a guide to the analysis and deeper understanding of rigid-body systems.
Summary: The Deep side of robotics
Rating: 5
This 200 page book might not look like much when you first open it up. But…
If you want to understand concepts like: Spatial Kinematics; Spatial Dynamics; Inverse Dynamics; Forward Dynamics – The Composite-Rigid-Body Method; Extending the DynamicsAlgorithms; Coordinate Systems and Efficiency; Contact, Impact, and Kinematic Loops, this book is for you!
If you want to learn how to computate efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies, then this book is for you!
The efficiency of these calculations are acchieved by the use of recursive formulations of the equations of motion. The use of recursive formulations in dynamics is fairly new, so the priciples of their operation and reason for their efficiency are explained.
These algorithms are initially described in terms of an un-branhed, open-loop Kinematic chain – atypical serial robot mechanism. This is done to keep the descriptions of thealgorithms 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 thesealgorithms on a computer.
The reader is asumed to have a knowledge of vectorial mechanics. No prior knowledge of robot dynamics, or the dynamics of any other kind of rigid-body system, is required.
http://depositfiles.com/files/3195297
http://rapidshare.com/files/85904554/Rigid_Body_Dynamics_Algorithms.rar
http://w15.easy-share.com/15718901.html
http://www.paid4share.com/file/2911/0387743146-rar.html
Rigid Body Dynamics Algorithms
By Roy Featherstone
Publisher: Springer
Number Of Pages: 278
Publication Date: 2007-11-26
ISBN-10 / ASIN: 0387743146
ISBN-13 / EAN: 9780387743141
Binding: Hardcover
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 additionalgorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamicsalgorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Unique features include:
A comprehensive collection of the best rigid-body dynamics algorithms
Use of spatial (6D) vectors to greatly reduce the volume of algebra, to simplify the treatment of the subject, and to simplify the computer code that implements thealgorithms
Algorithms expressed both mathematically and in pseudocode for easy translation into computer programs
Source code for many algorithms available on the internet
Rigid Body Dynamics Algorithms is aimed at readers who already have some elementary knowledge of rigid-body dynamics, and are interested in calculating the dynamics of a rigid-body system. This book serves as an algorithms recipe book as well as a guide to the analysis and deeper understanding of rigid-body systems.
Summary: The Deep side of robotics
Rating: 5
This 200 page book might not look like much when you first open it up. But…
If you want to understand concepts like: Spatial Kinematics; Spatial Dynamics; Inverse Dynamics; Forward Dynamics – The Composite-Rigid-Body Method; Extending the DynamicsAlgorithms; Coordinate Systems and Efficiency; Contact, Impact, and Kinematic Loops, this book is for you!
If you want to learn how to computate efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies, then this book is for you!
The efficiency of these calculations are acchieved by the use of recursive formulations of the equations of motion. The use of recursive formulations in dynamics is fairly new, so the priciples of their operation and reason for their efficiency are explained.
These algorithms are initially described in terms of an un-branhed, open-loop Kinematic chain – atypical serial robot mechanism. This is done to keep the descriptions of thealgorithms 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 thesealgorithms on a computer.
The reader is asumed to have a knowledge of vectorial mechanics. No prior knowledge of robot dynamics, or the dynamics of any other kind of rigid-body system, is required.
http://depositfiles.com/files/3195297
http://rapidshare.com/files/85904554/Rigid_Body_Dynamics_Algorithms.rar
http://w15.easy-share.com/15718901.html
http://www.paid4share.com/file/2911/0387743146-rar.html