Intelligent Systems, Control and Automation: Science and Engineering

Vijaykumar Shah, Suril; Saha, Subir Kumar; Dutt, Jayanta Kumar

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.

Details

Published by: Springer

Publication Date: 2012-12-14

Format: Hardcover

ISBN-13: 9789400750050

DOI: 10.1007/978-94-007-5006-7

Dimensions: 235cm x155cm

Pages: 252