Multi Body Kinematics And Dynamics With Lie Groups

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Multi-Body Kinematics and Dynamics with Lie Groups

Dominique Paul Chevallier,Jean Lerbet
Multi Body Kinematics and Dynamics with Lie Groups Book PDF

Author : Dominique Paul Chevallier,Jean Lerbet
Publisher : Elsevier
Page : 334 pages
File Size : 48,5 Mb
Release : 2017-11-22
Category : Technology & Engineering
ISBN : 9780081023570

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Multi-Body Kinematics and Dynamics with Lie Groups by Dominique Paul Chevallier,Jean Lerbet Pdf

Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy Includes theoretical results that have appeared in scientific articles

Multibody Dynamics

Zdravko Terze
Multibody Dynamics Book PDF

Author : Zdravko Terze
Publisher : Springer
Page : 368 pages
File Size : 54,8 Mb
Release : 2014-06-26
Category : Technology & Engineering
ISBN : 9783319072609

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Multibody Dynamics by Zdravko Terze Pdf

By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

Structure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics

Peter Betsch
Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics Book PDF

Author : Peter Betsch
Publisher : Springer
Page : 291 pages
File Size : 47,9 Mb
Release : 2016-05-10
Category : Technology & Engineering
ISBN : 9783319318790

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Structure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics by Peter Betsch Pdf

This book focuses on structure-preserving numerical methods for flexible multibody dynamics, including nonlinear elastodynamics and geometrically exact models for beams and shells. It also deals with the newly emerging class of variational integrators as well as Lie-group integrators. It discusses two alternative approaches to the discretization in space of nonlinear beams and shells. Firstly, geometrically exact formulations, which are typically used in the finite element community and, secondly, the absolute nodal coordinate formulation, which is popular in the multibody dynamics community. Concerning the discretization in time, the energy-momentum method and its energy-decaying variants are discussed. It also addresses a number of issues that have arisen in the wake of the structure-preserving discretization in space. Among them are the parameterization of finite rotations, the incorporation of algebraic constraints and the computer implementation of the various numerical methods. The practical application of structure-preserving methods is illustrated by a number of examples dealing with, among others, nonlinear beams and shells, large deformation problems, long-term simulations and coupled thermo-mechanical multibody systems. In addition it links novel time integration methods to frequently used methods in industrial multibody system simulation.

Robot and Multibody Dynamics

Abhinandan Jain
Robot and Multibody Dynamics Book PDF

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Page : 510 pages
File Size : 41,5 Mb
Release : 2010-12-17
Category : Technology & Engineering
ISBN : 9781441972675

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Robot and Multibody Dynamics by Abhinandan Jain Pdf

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

New Trends in Mechanism and Machine Science

Doina Pisla,Burkhard Corves,Calin Vaida
New Trends in Mechanism and Machine Science Book PDF

Author : Doina Pisla,Burkhard Corves,Calin Vaida
Publisher : Springer Nature
Page : 539 pages
File Size : 55,9 Mb
Release : 2020-08-20
Category : Technology & Engineering
ISBN : 9783030550615

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New Trends in Mechanism and Machine Science by Doina Pisla,Burkhard Corves,Calin Vaida Pdf

This volume presents the latest research and industrial applications in the areas of mechanism science, robotics and dynamics. The respective contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and the teaching and history of mechanisms. Written by leading researchers and engineers, and selected by means of a rigorous international peer-review process, the papers highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaborations. They reflect the outcomes of the 8th European Conference on Mechanism Science (EuCoMeS) in 2020.

Dynamics of Multibody Systems

Jens Wittenburg
Dynamics of Multibody Systems Book PDF

Author : Jens Wittenburg
Publisher : Springer Science & Business Media
Page : 232 pages
File Size : 40,5 Mb
Release : 2007-10-20
Category : Technology & Engineering
ISBN : 9783540739142

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Dynamics of Multibody Systems by Jens Wittenburg Pdf

Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Symbiotic Multi-Robot Organisms

Paul Levi,Serge Kernbach
Symbiotic Multi Robot Organisms Book PDF

Author : Paul Levi,Serge Kernbach
Publisher : Springer Science & Business Media
Page : 470 pages
File Size : 40,7 Mb
Release : 2010-05-18
Category : Technology & Engineering
ISBN : 9783642116926

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Symbiotic Multi-Robot Organisms by Paul Levi,Serge Kernbach Pdf

This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring.

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Sirouspour, Shahin
Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics Book PDF

Author : Sirouspour, Shahin
Publisher : IGI Global
Page : 348 pages
File Size : 46,6 Mb
Release : 2013-03-31
Category : Technology & Engineering
ISBN : 9781466636354

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Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics by Sirouspour, Shahin Pdf

The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

Intelligent Robotics and Applications

Sabina Jeschke,Honghai Liu,Daniel Schilberg
Intelligent Robotics and Applications Book PDF

Author : Sabina Jeschke,Honghai Liu,Daniel Schilberg
Publisher : Springer
Page : 623 pages
File Size : 45,6 Mb
Release : 2011-12-03
Category : Computers
ISBN : 9783642254895

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Intelligent Robotics and Applications by Sabina Jeschke,Honghai Liu,Daniel Schilberg Pdf

The two volume set LNAI 7101 and 7102 constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.

Spacecraft Attitude Control

Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun
Spacecraft Attitude Control Book PDF

Author : Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun
Publisher : Elsevier
Page : 386 pages
File Size : 40,9 Mb
Release : 2022-01-31
Category : Science
ISBN : 9780323990066

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Spacecraft Attitude Control by Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun Pdf

Spacecraft Attitude Control: A Linear Matrix Inequality Approach solves problemsfor spacecraft attitude control systems using convex optimization and, specifi cally,through a linear matrix inequality (LMI) approach. High-precision pointing and improvedrobustness in the face of external disturbances and other uncertainties are requirementsfor the current generation of spacecraft. This book presents an LMI approach to spacecraftattitude control and shows that all uncertainties in the maneuvering process can besolved numerically. It explains how a model-like state space can be developed through amathematical presentation of attitude control systems, allowing the controller in question tobe applied universally. The authors describe a wide variety of novel and robust controllers,applicable both to spacecraft attitude control and easily extendable to second-ordersystems. Spacecraft Attitude Control provides its readers with an accessible introductionto spacecraft attitude control and robust systems, giving an extensive survey of currentresearch and helping researchers improve robust control performance. Considers the control requirements of modern spacecraft Presents rigid and flexible spacecraft control systems with inherent uncertainties mathematically, leading to a model-like state space Develops a variety of novel and robust controllers directly applicable to spacecraft control as well as extendable to other second-order systems Includes a systematic survey of recent research in spacecraft attitude control

Dynamics of Rigid-Flexible Robots and Multibody Systems

Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha
Dynamics of Rigid Flexible Robots and Multibody Systems Book PDF

Author : Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha
Publisher : Springer Nature
Page : 288 pages
File Size : 42,9 Mb
Release : 2021-11-28
Category : Technology & Engineering
ISBN : 9789811627989

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Dynamics of Rigid-Flexible Robots and Multibody Systems by Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha Pdf

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Taeyoung Lee,Melvin Leok,N. Harris McClamroch
Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds Book PDF

Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
Publisher : Springer
Page : 539 pages
File Size : 44,6 Mb
Release : 2017-08-14
Category : Mathematics
ISBN : 9783319569536

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Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds by Taeyoung Lee,Melvin Leok,N. Harris McClamroch Pdf

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

Interdisciplinary Applications of Kinematics

Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias
Interdisciplinary Applications of Kinematics Book PDF

Author : Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias
Publisher : Springer
Page : 274 pages
File Size : 42,9 Mb
Release : 2019-05-16
Category : Technology & Engineering
ISBN : 9783030164232

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Interdisciplinary Applications of Kinematics by Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias Pdf

This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

EuCoMeS 2018

Burkhard Corves,Philippe Wenger,Mathias Hüsing
EuCoMeS 2018 Book PDF

Author : Burkhard Corves,Philippe Wenger,Mathias Hüsing
Publisher : Springer
Page : 427 pages
File Size : 55,9 Mb
Release : 2018-08-01
Category : Technology & Engineering
ISBN : 9783319980201

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EuCoMeS 2018 by Burkhard Corves,Philippe Wenger,Mathias Hüsing Pdf

This volume presents the latest academic research and industrial applications in the area of mechanisms, robotics and dynamics. Contributions cover such topics as biomedical applications, control issues of mechanical systems, dynamics of multi-body systems, experimental mechanics, haptic systems, history of mechanism science, industrial and non-industrial applications, linkages and cams, mechanical transmissions and gears, mechanics of robots and manipulators, theoretical kinematics. Resulting from the 7th European Conference on Mechanism Science, which was held at RWTH Aachen University on September 4-6, 2018, this works comprises an overview on current research activities across Europe. .

Vehicle-Manipulator Systems

Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
Vehicle Manipulator Systems Book PDF

Author : Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
Publisher : Springer Science & Business Media
Page : 388 pages
File Size : 53,9 Mb
Release : 2013-10-02
Category : Technology & Engineering
ISBN : 9781447154631

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Vehicle-Manipulator Systems by Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen Pdf

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.