03652nam 22006615 450 991048399710332120200701004837.03-030-04275-810.1007/978-3-030-04275-2(CKB)4100000007204669(MiAaPQ)EBC5611934(DE-He213)978-3-030-04275-2(PPN)243770871(EXLCZ)99410000000720466920181206d2019 u| 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrier3D Motion of Rigid Bodies A Foundation for Robot Dynamics Analysis /by Ernesto Olguín Díaz1st ed. 2019.Cham :Springer International Publishing :Imprint: Springer,2019.1 online resource (488 pages)Studies in Systems, Decision and Control,2198-4182 ;1913-030-04274-X Mathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint.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 (and differences between) the different formulations.Studies in Systems, Decision and Control,2198-4182 ;191Computational intelligenceRoboticsAutomationVibrationDynamical systemsDynamicsControl engineeringComputational Intelligencehttps://scigraph.springernature.com/ontologies/product-market-codes/T11014Robotics and Automationhttps://scigraph.springernature.com/ontologies/product-market-codes/T19020Vibration, Dynamical Systems, Controlhttps://scigraph.springernature.com/ontologies/product-market-codes/T15036Control and Systems Theoryhttps://scigraph.springernature.com/ontologies/product-market-codes/T19010Computational intelligence.Robotics.Automation.Vibration.Dynamical systems.Dynamics.Control engineering.Computational Intelligence.Robotics and Automation.Vibration, Dynamical Systems, Control.Control and Systems Theory.629.892629.892Olguín Díaz Ernestoauthttp://id.loc.gov/vocabulary/relators/aut1229584BOOK99104839971033213D Motion of Rigid Bodies2854122UNINA