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010   $a3-030-04275-8
024 7 $a10.1007/978-3-030-04275-2
035   $a(CKB)4100000007204669
035   $a(MiAaPQ)EBC5611934
035   $a(DE-He213)978-3-030-04275-2
035   $a(PPN)243770871
035   $a(MiAaPQ)EBC29082111
035   $a(EXLCZ)994100000007204669
100   $a20181206d2019      u|         0
101 0 $aeng
135   $aurcnu||||||||
181   $ctxt$2rdacontent
182   $cc$2rdamedia
183   $acr$2rdacarrier
200 10$a3D Motion of Rigid Bodies $eA Foundation for Robot Dynamics Analysis /$fby Ernesto Olguín Díaz
205   $a1st ed. 2019.
210  1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2019.
215   $a1 online resource (488 pages)
225 1 $aStudies in Systems, Decision and Control,$x2198-4182 ;$v191
311 08$a3-030-04274-X 
327   $aMathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint.
330   $aThis book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton?Euler equations in any of their multiple expression forms. This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (and differences between) the different formulations.
410  0$aStudies in Systems, Decision and Control,$x2198-4182 ;$v191
606   $aComputational intelligence
606   $aRobotics
606   $aAutomation
606   $aVibration
606   $aDynamics
606   $aDynamics
606   $aAutomatic control
606   $aComputational Intelligence$3https://scigraph.springernature.com/ontologies/product-market-codes/T11014
606   $aRobotics and Automation$3https://scigraph.springernature.com/ontologies/product-market-codes/T19020
606   $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036
606   $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010
615  0$aComputational intelligence.
615  0$aRobotics.
615  0$aAutomation.
615  0$aVibration.
615  0$aDynamics.
615  0$aDynamics.
615  0$aAutomatic control.
615 14$aComputational Intelligence.
615 24$aRobotics and Automation.
615 24$aVibration, Dynamical Systems, Control.
615 24$aControl and Systems Theory.
676   $a629.892
676   $a629.892
700   $aOlguín Díaz$b Ernesto$4aut$4http://id.loc.gov/vocabulary/relators/aut$01229584
906   $aBOOK
912   $a9910483997103321
996   $a3D Motion of Rigid Bodies$92854122
997   $aUNINA