Dynamics of Tree-Type Robotic Systems by Suril Vijaykumar Shah
English | PDF | 2013 | 255 Pages | ISBN : 9400750056 | 5.9 MB
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.