Multi Body Kinematics and Dynamics with Lie Groups

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

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  • Author : Dominique Paul Chevallier
  • Publisher : Elsevier
  • Pages : 334 pages
  • ISBN : 008102357X
  • Rating : 4/5 from 21 reviews
CLICK HERE TO GET THIS BOOKMulti Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups

Multi-Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique Paul Chevallier,Jean Lerbet
  • Publisher : Elsevier
  • Release : 22 November 2017
GET THIS BOOKMulti-Body Kinematics and Dynamics with Lie Groups

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

Spacecraft Attitude Control

Spacecraft Attitude Control
  • Author : Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun
  • Publisher : Elsevier
  • Release : 14 February 2022
GET THIS BOOKSpacecraft Attitude Control

Spacecraft Attitude Control: A Linear Matrix Inequality Approach solves problems for spacecraft attitude control systems using convex optimization, and more specifically, through a linear matrix inequalities approach (LMI). High-precision pointing and improved robustness in the face of external disturbances and other uncertainties are requirements for the current generation of spacecraft. The title develops an LMI approach to spacecraft attitude control and shows that all uncertainties in the maneuvering process can be solved numerically. The book develops a wide variety of

New Trends in Mechanism and Machine Science

New Trends in Mechanism and Machine Science
  • Author : Doina Pisla,Burkhard Corves,Calin Vaida
  • Publisher : Springer Nature
  • Release : 20 August 2020
GET THIS BOOKNew Trends in Mechanism and Machine Science

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

Multibody Dynamics

Multibody Dynamics
  • Author : Zdravko Terze
  • Publisher : Springer
  • Release : 26 June 2014
GET THIS BOOKMultibody Dynamics

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

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

Structure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics
  • Author : Peter Betsch
  • Publisher : Springer
  • Release : 10 May 2016
GET THIS BOOKStructure-preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics

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

Dynamics of Multibody Systems

Dynamics of Multibody Systems
  • Author : Jens Wittenburg
  • Publisher : Springer Science & Business Media
  • Release : 20 October 2007
GET THIS BOOKDynamics of Multibody Systems

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.

Robot and Multibody Dynamics

Robot and Multibody Dynamics
  • Author : Abhinandan Jain
  • Publisher : Springer Science & Business Media
  • Release : 17 December 2010
GET THIS BOOKRobot and Multibody Dynamics

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

Dynamics of Rigid-Flexible Robots and Multibody Systems

Dynamics of Rigid-Flexible Robots and Multibody Systems
  • Author : Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha
  • Publisher : Springer Nature
  • Release : 28 November 2021
GET THIS BOOKDynamics of Rigid-Flexible Robots and Multibody Systems

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

Symbiotic Multi-Robot Organisms

Symbiotic Multi-Robot Organisms
  • Author : Paul Levi,Serge Kernbach
  • Publisher : Springer Science & Business Media
  • Release : 18 May 2010
GET THIS BOOKSymbiotic Multi-Robot Organisms

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

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics
  • Author : Sirouspour, Shahin
  • Publisher : IGI Global
  • Release : 31 March 2013
GET THIS BOOKAdvanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

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.

Flexible Multibody Dynamics

Flexible Multibody Dynamics
  • Author : O. A. Bauchau
  • Publisher : Springer Science & Business Media
  • Release : 23 October 2010
GET THIS BOOKFlexible Multibody Dynamics

The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds
  • Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
  • Publisher : Springer
  • Release : 14 August 2017
GET THIS BOOKGlobal Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

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.

Intelligent Robotics and Applications

Intelligent Robotics and Applications
  • Author : Sabina Jeschke,Honghai Liu,Daniel Schilberg
  • Publisher : Springer
  • Release : 03 December 2011
GET THIS BOOKIntelligent Robotics and Applications

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