Rigid Body Dynamics Algorithms (Hardcover)

by Roy Featherstone (Author)
Key Phrases: kinematic tree, assembly formulae, contact normal vector, Combining Eqs, Contact Constraint (more...)

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Product Description
"Robot Dynamics Algorithms, Second Edition" 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. The book is a comprehensive collection of the best rigid-body dynamics algorithms in a single source. This second edition includes nearly twice the content of the previous edition with algorithms shown explicitly in pseudocode and laid out in tables for easy implementation. It also has more algorithms than the previous edition including algorithms that exploit sparse matrices and ones for kinematic loops. New material on the mathematics of spatial (6D) vectors and how to analyze rigid-body systems using spatial vectors is covered. Finally there is an entire chapter devoted to how to build computer-oriented models of rigid-body systems.This book is for engineers with knowledge of rigid-body dynamics who are interested in calculating the dynamics of a rigid-body system. It is both an algorithms recipe book as well as a guide to the analysis and deeper understanding of rigid-body systems.

Product Details

• Hardcover: 278 pages
• Publisher: Springer; 1 edition (November 26, 2007)
• Language: English
• ISBN-10: 0387743146
• ISBN-13: 978-0387743141
• Product Dimensions: 9.3 x 6.2 x 1 inches
• Shipping Weight: 1.3 pounds (View shipping rates and policies)
• Average Customer Review: 5.0 out of 5 stars See all reviews (1 customer review)
• Amazon.com Sales Rank: #657,692 in Books (See Bestsellers in Books)

Customer Reviews

Most Helpful Customer Reviews

10 of 10 people found the following review helpful:

5.0 out of 5 stars The Deep side of robotics, June 15, 2001

By	S. O'Reilly "book worm" (New Zealand) - See all my reviews (REAL NAME)

This review is from: Robot Dynamics Algorithms (The Springer International Series in Engineering and Computer Science) (Hardcover)

This 200 page book might not look like much when you first open it up. But...

If you want to understand concepts like: Spatial Kinematics; Spatial Dynamics; Inverse Dynamics; Forward Dynamics - The Composite-Rigid-Body Method; Extending the Dynamics Algorithms; Coordinate Systems and Efficiency; Contact, Impact, and Kinematic Loops, this book is for you!

If you want to learn how to computate efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies, then this book is for you!

The efficiency of these calculations are acchieved by the use of recursive formulations of the equations of motion. The use of recursive formulations in dynamics is fairly new, so the priciples of their operation and reason for their efficiency are explained.

These algorithms are initially described in terms of an un-branhed, open-loop Kinematic chain - atypical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algorithms on a computer.

The reader is asumed to have a knowledge of vectorial mechanics. No prior knowledge of robot dynamics, or the dynamics of any other kind of rigid-body system, is required.

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