Rigid Body Dynamics Algorithms (Hardcover)

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

Editorial Reviews

Review

From the reviews:

"The objective of this book is ‘to provide a substantial collection of the most efficient algorithms for calculating rigid body dynamics’. … The book intended to be accessible to readers with an undergraduate engineering background. It is well-written, and generally meets … the stated objectives. … it is likely to be a reference for a wide variety of computational dynamics methods. Purchase by libraries, researchers, and practitioners is recommended." (Ronald L. Huston, Zentralblatt MATH, Vol. 1146, 2008)

Product Description

Rigid Body Dynamics Algorithms 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.

Unique features include:

• A comprehensive collection of the best rigid-body dynamics algorithms
• Use of spatial (6D) vectors to greatly reduce the volume of algebra, to simplify the treatment of the subject, and to simplify the computer code that implements the algorithms
• Algorithms expressed both mathematically and in pseudocode for easy translation into computer programs
• Source code for many algorithms available on the internet

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.

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: #527,500 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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