| |
|
|
|
|
|
|
|
|
1. |
Record Nr. |
UNINA9910483997103321 |
|
|
Autore |
Olguín Díaz Ernesto |
|
|
Titolo |
3D Motion of Rigid Bodies : A Foundation for Robot Dynamics Analysis / / by Ernesto Olguín Díaz |
|
|
|
|
|
|
|
Pubbl/distr/stampa |
|
|
Cham : , : Springer International Publishing : , : Imprint : Springer, , 2019 |
|
|
|
|
|
|
|
|
|
ISBN |
|
|
|
|
|
|
Edizione |
[1st ed. 2019.] |
|
|
|
|
|
Descrizione fisica |
|
1 online resource (488 pages) |
|
|
|
|
|
|
Collana |
|
Studies in Systems, Decision and Control, , 2198-4190 ; ; 191 |
|
|
|
|
|
|
Disciplina |
|
|
|
|
|
|
Soggetti |
|
Computational intelligence |
Control engineering |
Robotics |
Automation |
Multibody systems |
Vibration |
Mechanics, Applied |
Computational Intelligence |
Control, Robotics, Automation |
Multibody Systems and Mechanical Vibrations |
Control and Systems Theory |
|
|
|
|
|
|
|
|
Lingua di pubblicazione |
|
|
|
|
|
|
Formato |
Materiale a stampa |
|
|
|
|
|
Livello bibliografico |
Monografia |
|
|
|
|
|
Nota di contenuto |
|
Mathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint. |
|
|
|
|
|
|
|
|
Sommario/riassunto |
|
This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single |
|
|
|
|
|
|
|
|
|
|
rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton–Euler equations in any of their multiple expression forms. This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (anddifferences between) the different formulations. |
|
|
|
|
|
| |