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3D Motion of Rigid Bodies: A Foundation for Robot Dynamics Analysis
Kategorie	Beschreibung
036a	XA-DE
037b	eng
087q	978-3-030-04274-5
100	Olguín Díaz, Ernesto ¬[VerfasserIn]¬
331	3D Motion of Rigid Bodies
335	A Foundation for Robot Dynamics Analysis
410	Cham
412	Springer
425	2019
425a	2019
433	Online-Ressource (XXIII, 474 p. 135 illus., 120 illus. in color, online resource)
451	Studies in Systems, Decision and Control ; 191
527	Erscheint auch als (Druck-Ausgabe)ISBN: 978-3-030-04274-5
540a	ISBN 978-3-030-04275-2
700	\|COM004000
700	\|UYQ
700	\|UYQ
700	\|TEC009000
700b	\|006.3
700c	\|Q342
750	Mathematic Foundations -- Classical Mechanics -- Rigid Motion -- Attitude Representations -- Dynamics of a Rigid Body -- Spacial Vectors Approach -- Lagrangian Formulation -- Model reduction under motion constraint.
753	This 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.
012	516260170
081	Olguín Díaz, Ernesto: 3D Motion of Rigid Bodies
100	Springer E-Book
125a	Elektronischer Volltext - Campuslizenz
655e	$uhttps://doi.org/10.1007/978-3-030-04275-2