Dynamics of Tree-Type Robotic Systems

  • Suril Vijaykumar Shah
  • Subir Kumar Saha
  • Jayanta Kumar Dutt

Table of contents

  1. Front Matter
    Pages i-xii
  2. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 1-7
  3. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 9-25
  4. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 27-55
  5. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 57-72
  6. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 73-88
  7. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 89-115
  8. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 117-154
  9. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 155-171
  10. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 173-185
  11. Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
    Pages 187-204
  12. Back Matter
    Pages 205-251

About this book

Introduction

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.

Keywords

dynamics kinematic modules legged robots multibody dynamics recursive algorithms tree-type robotic systems

Authors and affiliations

  • Suril Vijaykumar Shah
    • 1
  • Subir Kumar Saha
    • 2
  • Jayanta Kumar Dutt
    • 3
  1. 1.McGill UniversityMontrealCanada
  2. 2.Department of Mechanical EngineeringIIT DelhiNew DelhiIndia
  3. 3., Department of Mechanical EngineeringIIT DelhiNew DelhiIndia

Bibliographic information

  • DOI https://doi.org/10.1007/978-94-007-5006-7
  • Copyright Information Springer Science+Business Media Dordrecht 2013
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-94-007-5005-0
  • Online ISBN 978-94-007-5006-7
  • Series Print ISSN 2213-8986
  • Series Online ISSN 2213-8994
  • About this book