Multi Body Kinematics and Dynamics with Lie Groups

• Author : Dominique Paul Chevallier,Jean Lerbet
• Publisher : Elsevier
• Release : 22 November 2017

Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid

• Author : Dominique P. Chevallier,Jean Lerbet
• Publisher : Iste Press - Elsevier
• Release : 01 December 2017

Multi-body Kinematics and Dynamics with Lie Groups starts with an overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group which may be used in problems of kinematics and dynamics of rigid bodies. The book includes exercises allowing the reader to get familiar with this mathematical framework. For the more experienced readers, theoretical results that have appeared in some scientific articles are also included. For example, a complete classification of singularities

• Author : Zdravko Terze
• Publisher : Springer
• Release : 26 June 2014

By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical

• Author : Peter Betsch
• Publisher : Springer
• Release : 10 May 2016

This book focuses on structure-preserving numerical methods for flexible multibody dynamics, including nonlinear elastodynamics and geometrically exact models for beams and shells. It also deals with the newly emerging class of variational integrators as well as Lie-group integrators. It discusses two alternative approaches to the discretization in space of nonlinear beams and shells. Firstly, geometrically exact formulations, which are typically used in the finite element community and, secondly, the absolute nodal coordinate formulation, which is popular in the multibody dynamics

• Author : Doina Pisla,Burkhard Corves,Calin Vaida
• Publisher : Springer Nature
• Release : 20 August 2020

This volume presents the latest research and industrial applications in the areas of mechanism science, robotics and dynamics. The respective contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and the teaching and history of mechanisms. Written by leading researchers and engineers, and selected by means of a rigorous international peer-review process, the papers highlight numerous exciting ideas that will

• Author : Jens Wittenburg
• Publisher : Springer Science & Business Media
• Release : 20 October 2007

Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

• Author : Sirouspour, Shahin
• Publisher : IGI Global
• Release : 31 March 2013

The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

• Author : Paul Levi,Serge Kernbach
• Publisher : Springer Science & Business Media
• Release : 18 May 2010

This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring.

• Author : Chuang Liu,Xiaokui Yue,Keke Shi,Zhaowei Sun
• Publisher : Elsevier
• Release : 14 February 2022

Spacecraft Attitude Control: A Linear Matrix Inequality Approach solves problems for spacecraft attitude control systems using convex optimization, and more specifically, through a linear matrix inequalities approach (LMI). High-precision pointing and improved robustness in the face of external disturbances and other uncertainties are requirements for the current generation of spacecraft. The title develops an LMI approach to spacecraft attitude control and shows that all uncertainties in the maneuvering process can be solved numerically. The book develops a wide variety of

• Author : Sabina Jeschke,Honghai Liu,Daniel Schilberg
• Publisher : Springer
• Release : 03 December 2011

The two volume set LNAI 7101 and 7102 constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility

• Author : Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Kumar Saha
• Publisher : Springer Nature
• Release : 28 November 2021

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a

• Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
• Publisher : Springer
• Release : 14 August 2017

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities.

• Author : Burkhard Corves,Philippe Wenger,Mathias Hüsing
• Publisher : Springer
• Release : 01 August 2018

This volume presents the latest academic research and industrial applications in the area of mechanisms, robotics and dynamics. Contributions cover such topics as biomedical applications, control issues of mechanical systems, dynamics of multi-body systems, experimental mechanics, haptic systems, history of mechanism science, industrial and non-industrial applications, linkages and cams, mechanical transmissions and gears, mechanics of robots and manipulators, theoretical kinematics. Resulting from the 7th European Conference on Mechanism Science, which was held at RWTH Aachen University on September 4-6, 2018, this

• Author : Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
• Publisher : Springer Science & Business Media
• Release : 02 October 2013

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics

• Author : Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias
• Publisher : Springer
• Release : 16 May 2019

This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of