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.
Number of pages: 252
Weight: 5685 g
Dimensions: 235 x 155 x 18 mm
Edition: 2013 ed.
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)
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