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.
The book is accompanied with the software
ReDySim (Recursive Dynamics Simulator)
available free from http://
redysim.weebly.com/index.html .
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