Rigid Body Dynamics Algorithms
(Sprache: Englisch)
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system
and how to analyze it, and it presents the most comprehensive collection...
and how to analyze it, and it presents the most comprehensive collection...
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Klappentext zu „Rigid Body Dynamics Algorithms “
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body systemand how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Inhaltsverzeichnis zu „Rigid Body Dynamics Algorithms “
Introduction.- Spatial Vector Algebra.- Dynamics of Rigid Body Systems.- Modelling Rigid Body Systems.- Inverse Dynamics.- Forward Dynamics - Inertia Matrix Methods.- Forward Dynamics - Propagation Methods.- Closed Loop Systems.- Hybrid Dynamics and Other Topics.- Accuracy and Efficiency.- Contact and Impact.
Bibliographische Angaben
- Autor: Roy Featherstone
- 2007, 272 Seiten, Maße: 16,2 x 24,6 cm, Gebunden, Englisch
- Verlag: Springer
- ISBN-10: 0387743146
- ISBN-13: 9780387743141
Sprache:
Englisch
Rezension zu „Rigid Body Dynamics Algorithms “
From the reviews:"This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics ... . is centered on mechanical models made up of many rigid bodies connected by joints. ... The book is written in a clear way. Each chapter begins by stating the objectives to be achieved. The algorithms presented are well documented and worked examples are also given. ... the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems." (A. San Miguel, Mathematical Reviews, Issue 2011 h)
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