Dynamics of Tree-Type Robotic Systems

ISBN: 978-94-007-5005-0 (Print) 978-94-007-5006-7 (Online)

Table of contents (10 chapters)

  1. Front Matter

    Pages i-xii

  2. Chapter

    Pages 1-7

    Introduction

  3. Chapter

    Pages 9-25

    Dynamics of Robotic Systems

  4. Chapter

    Pages 27-55

    Euler-Angle-Joints (EAJs)

  5. Chapter

    Pages 57-72

    Kinematics of Tree-Type Robotic Systems

  6. Chapter

    Pages 73-88

    Dynamics of Tree-Type Robotic Systems

  7. Chapter

    Pages 89-115

    Recursive Dynamics for Fixed-Base Robotic Systems

  8. Chapter

    Pages 117-154

    Recursive Dynamics for Floating-Base Systems

  9. Chapter

    Pages 155-171

    Closed-Loop Systems

  10. Chapter

    Pages 173-185

    Controlled Robotic Systems

  11. Chapter

    Pages 187-204

    Recursive Dynamics Simulator (ReDySim)

  12. Back Matter

    Pages 205-251