Dynamics of Tree-Type Robotic Systems [Paperback]

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.

This book addresses dynamic modelling methodology and analyses of tree-type robotic systems, using kinematic modules and ?corresponding Decoupled Natural Orthogonal Complements, multiple-degrees-of-freedom-joints, recursive dynamics algorithms, and more.

1 Introduction

2 Dynamics of Robotic Systems

3 Euler-Angle-Joints (EAJs)

4 Kinematics of Tree-Type Robotic Systems

5 Dynamics of Tree-Type Robotic Systems

6 Recursive Dynamics for Fixed-Base Robotic Systems

7 Recursive Dynamics for Floating-Base Systems

8 Closed-Loop Systems

9 Controlled Robotic Systems

10 Recursive Dynamics Simulator (ReDySim)

Appendices

References

Index

From the reviews:

This is a relatively compact, but yet detailed, book on modeling and analysis of tree-type robotic systems. & Although the authors have prepared a concise, readable description of rather specialized topics, the reviewer believes the work is belã!