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Rigid body dynamics algorithms / Roy Featherstone
Resource type: Ressourcentyp: BuchBookPublisher number: 11381075Language: English Publisher: New York, NY : Springer, 2008Description: IX, 272 S. : Ill., graph. Darst. ; 235 mm x 155 mmISBN:- 0387743146
- 9780387743141
- 629.892 22
- 004
- QA861
Contents:
Summary: "Rigid Body Dynamics 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 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." "Rigid Body Dynamics Algorithms is aimed at readers who already have some elementary knowledge of rigid-body dynamics, and are interested in calculating the dynamics of a rigid-body system. This book serves as an algorithms recipe book as well as a guide to the analysis and deeper understanding of rigid-body systems."--BOOK JACKETCall number: Grundsignatur: 2008 A 2229PPN: PPN: 538641452
1.1Dynamics Algorithms11.2Spatial Vectors31.3Unity and Notation42Spatial Vector Algebra72.1Mathematical Preliminaries72.2Spatial Velocity102.3Spatial Force132.4Plucker Notation152.5Line Vectors and Free Vectors162.6Scalar Product172.7Using Spatial Vectors182.8Coordinate Transforms202.9Spatial Cross Products232.10Differentiation252.11Acceleration282.12Momentum312.13Inertia322.14Equation of Motion352.15Inverse Inertia362.16Planar Vectors373Dynamics of Rigid Body Systems393.1Equations of Motion403.2Constructing Equations of Motion423.3Vector Subspaces463.4Classification of Constraints503.5Joint Constraints533.6Dynamics of a Constrained Rigid Body573.7Dynamics of a Multibody System604Modelling Rigid Body Systems654.1Connectivity664.2Geometry734.3Denavit-Hartenberg Parameters754.4Joint Models784.5Spherical Motion844.6A Complete System Model875Inverse Dynamics895.1Algorithm Complexity895.2Recurrence Relations905.3The Recursive Newton-Euler Algorithm925.4The Original Version975.5Additional Notes996Forward DynamicsInertia Matrix Methods1016.1The Joint-Space Inertia Matrix1026.2The Composite-Rigid-Body Algorithm1046.3A Physical Interpretation1086.4Branch-Induced Sparsity1106.5Sparse Factorization Algorithms1127Forward DynamicsPropagation Methods1197.1Articulated-Body Inertia1197.2Calculating Articulated-Body Inertias1237.3The Articulated-Body Algorithm1287.4Alternative Assembly Formulae1317.5Multiple Handles1368Closed Loop Systems1418.1Equations of Motion1418.2Loop Constraint Equations1438.3Constraint Stabilization1458.4Loop Joint Forces1488.5Solving the Equations of Motion1498.6Algorithm for C[tau superscript a]1528.7Algorithm for K and k1548.8Algorithm for G and g1568.9Exploiting Sparsity in K and G1588.10Some Properties of Closed-Loop Systems1598.11Loop Closure Functions1618.12Inverse Dynamics1648.13Sparse Matrix Method1669Hybrid Dynamics and Other Topics1719.1Hybrid Dynamics1719.2Articulated-Body Hybrid Dynamics1769.3Floating Bases1799.4Floating-Base Forward Dynamics1819.5Floating-Base Inverse Dynamics1839.6Gears1869.7Dynamic Equivalence18910Accuracy and Efficiency19510.1Sources of Error19610.2The Sensitivity Problem19910.3Efficiency20110.4Symbolic Simplification20911Contact and Impact21311.1Single Point Contact21311.2Multiple Point Contacts21611.3A Rigid-Body System with Contacts21911.4Inequality Constraints22211.5Solving Contact Equations22411.6Contact Geometry22711.7Impulsive Dynamics23011.8Soft Contact235ASpatial Vector Arithmetic241A.1Simple Planar Arithmetic241A.2Simple Spatial Arithmetic243A.3Compact Representations245A.4Axial Screw Transforms249A.5Some Efficiency Tricks252.
| Item type | Home library | Collection | Shelving location | Call number | Status | Date due | Barcode | |
|---|---|---|---|---|---|---|---|---|
| Freihandbestand ausleihbar | Bibliothek Campus Süd | mech 2 | Lesesaal Technik (LST) | 2008 A 2229 | Checked out | 20.07.2026 | 49171581090 |
Total holds: 0