Dynamics of Tree-Type Robotic Systems by Suril Vijaykumar ShahDynamics of Tree-Type Robotic Systems by Suril Vijaykumar Shah

Dynamics of Tree-Type Robotic Systems

bySuril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt

Paperback | January 29, 2015

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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.

Title:Dynamics of Tree-Type Robotic SystemsFormat:PaperbackDimensions:252 pagesPublished:January 29, 2015Publisher:Springer-Verlag/Sci-Tech/TradeLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:9401782059

ISBN - 13:9789401782050


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)




Editorial Reviews

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 better suited for developmental researchers and engineers . . The book quality, the illustrations, and the editing are all excellent." (Ronald L. Huston, Zentralblatt MATH, Vol. 1264, 2013)