Dynamics of Tree-Type Robotic Systems

• Main Authors: Shah, Suril Vijaykumar. (Author), Saha, Subir Kumar. (Author), Dutt, Jayanta Kumar. (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic
• Language: English
• Published: Dordrecht : Springer Netherlands : Imprint: Springer, 2013.
• Series: Intelligent Systems, Control and Automation: Science and Engineering, 62
• Subjects: Engineering.; Materials.; Robotics and Automation.; Mathematical Modeling and Industrial Mathematics.; Continuum Mechanics and Mechanics of Materials.
• Online Access: https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-94-007-5006-7

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...

Table of Contents:

• 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.