TY  - BOOK
AU  - Shah,Suril Vijaykumar
AU  - Saha,Subir Kumar
AU  - Dutt,Jayanta Kumar
ED  - SpringerLink (Online service)
TI  - Dynamics of Tree-Type Robotic Systems
T2  - Intelligent Systems, Control and Automation: Science and Engineering,
SN  - 9789400750067
AV  - TJ210.2-211.495 
U1  - 629.892 23
PY  - 2013///
CY  - Dordrecht
PB  - Springer Netherlands, Imprint: Springer
KW  - Engineering
KW  - Mathematical models
KW  - Continuum mechanics
KW  - Robotics
KW  - Automation
KW  - Robotics and Automation
KW  - Mathematical Modeling and Industrial Mathematics
KW  - Continuum Mechanics and Mechanics of Materials
N1  - 1 Introduction -- 2 Dynamics of Robotic Systems -- 3 Euler-Angle-Joints (EAJs) -- 4 Kinematics of Tree-Type Robotic Systems -- 5 Dynamics of Tree-Type Robotic Systems -- 6 Recursive Dynamics for Fixed-Base Robotic Systems -- 7 Recursive Dynamics for Floating-Base Systems -- 8 Closed-Loop Systems -- 9 Controlled Robotic Systems -- 10 Recursive Dynamics Simulator (ReDySim) -- Appendices -- References.-Index
N2  - 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
UR  - http://dx.doi.org/10.1007/978-94-007-5006-7
ER  -