Dynamics of Tree-Type Robotic Systems

Download or read book Dynamics of Tree-Type Robotic Systems written by Suril Vijaykumar Shah and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.