Multi Body Kinematics And Dynamics With Lie Groups

✏Book Title : Multi Body Kinematics and Dynamics with Lie Groups
✏Author : Dominique Paul Chevallier
✏Publisher : Elsevier
✏Release Date : 2017-11-22
✏Pages : 334
✏ISBN : 9780081023570
✏Available Language : English, Spanish, And French

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✏Multi Body Kinematics and Dynamics with Lie Groups Book Summary : 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 body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy Includes theoretical results that have appeared in scientific articles

✏Book Title : Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics
✏Author : Peter Betsch
✏Publisher : Springer
✏Release Date : 2016-05-10
✏Pages : 291
✏ISBN : 9783319318790
✏Available Language : English, Spanish, And French

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✏Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics Book Summary : 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 community. Concerning the discretization in time, the energy-momentum method and its energy-decaying variants are discussed. It also addresses a number of issues that have arisen in the wake of the structure-preserving discretization in space. Among them are the parameterization of finite rotations, the incorporation of algebraic constraints and the computer implementation of the various numerical methods. The practical application of structure-preserving methods is illustrated by a number of examples dealing with, among others, nonlinear beams and shells, large deformation problems, long-term simulations and coupled thermo-mechanical multibody systems. In addition it links novel time integration methods to frequently used methods in industrial multibody system simulation.

✏Book Title : Kinematics and Dynamics of Multi Body Systems
✏Author : J. Angeles
✏Publisher : Springer
✏Release Date : 2014-05-04
✏Pages : 342
✏ISBN : 9783709143629
✏Available Language : English, Spanish, And French

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✏Kinematics and Dynamics of Multi Body Systems Book Summary : Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.

✏Book Title : Symbiotic Multi Robot Organisms
✏Author : Paul Levi
✏Publisher : Springer Science & Business Media
✏Release Date : 2010-05-18
✏Pages : 470
✏ISBN : 3642116922
✏Available Language : English, Spanish, And French

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✏Symbiotic Multi Robot Organisms Book Summary : 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.

✏Book Title : Multibody Dynamics
✏Author : Zdravko Terze
✏Publisher : Springer
✏Release Date : 2014-06-26
✏Pages : 368
✏ISBN : 9783319072609
✏Available Language : English, Spanish, And French

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✏Multibody Dynamics Book Summary : 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 applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

✏Book Title : Geometric Algorithms for the Dynamics and Control of Multibody Systems
✏Author : Scott Robert Ploen
✏Publisher :
✏Release Date : 1997
✏Pages : 316
✏ISBN : UCSD:31822026108522
✏Available Language : English, Spanish, And French

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✏Geometric Algorithms for the Dynamics and Control of Multibody Systems Book Summary :

✏Book Title : A Journey from Robot to Digital Human
✏Author : Edward Y L Gu
✏Publisher : Springer Science & Business Media
✏Release Date : 2013-07-24
✏Pages : 585
✏ISBN : 9783642390470
✏Available Language : English, Spanish, And French

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✏A Journey from Robot to Digital Human Book Summary : This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.

✏Book Title : Dynamics and Control of Multibody Systems
✏Author : Jerrold E. Marsden
✏Publisher : American Mathematical Soc.
✏Release Date : 1989
✏Pages : 468
✏ISBN : 9780821851043
✏Available Language : English, Spanish, And French

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✏Dynamics and Control of Multibody Systems Book Summary : The study of complex, interconnected mechanical systems with rigid and flexible articulated components is of growing interest to both engineers and mathematicians. Recent work in this area reveals a rich geometry underlying the mathematical models used in this context. In particular, Lie groups of symmetries, reduction, and Poisson structures play a significant role in explicating the qualitative properties of multibody systems. In engineering applications, it is important to exploit the special structures of mechanical systems. For example, certain mechanical problems involving control of interconnected rigid bodies can be formulated as Lie-Poisson systems. The dynamics and control of robotic, aeronautic, and space structures involve difficulties in modeling, mathematical analysis, and numerical implementation. For example, a new generation of spacecraft with large, flexible components are presenting new challenges to the accurate modeling and prediction of the dynamic behavior of such structures. Recent developments in Hamiltonian dynamics and coupling of systems with symmetries has shed new light on some of these issues, while engineering questions have suggested new mathematical structures. These kinds of considerations motivated the organization of the AMS-IMS-SIAM Joint Summer Research Conference on Control Theory and Multibody Systems, held at Bowdoin College in August, 1988. This volume contains the proceedings of that conference. The papers presented here cover a range of topics, all of which could be viewed as applications of geometrical methods to problems arising in dynamics and control. The volume contains contributions from some of the top researchers and provides an excellent overview of the frontiers of research in this burgeoning area.

✏Book Title : Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005
✏Author :
✏Publisher :
✏Release Date : 2005
✏Pages :
✏ISBN : CORNELL:31924091097521
✏Available Language : English, Spanish, And French

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✏Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005 Book Summary :

✏Book Title : Multibody Dynamics 2019
✏Author : Andrés Kecskeméthy
✏Publisher : Springer
✏Release Date : 2019-06-28
✏Pages : 545
✏ISBN : 9783030231323
✏Available Language : English, Spanish, And French

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✏Multibody Dynamics 2019 Book Summary : In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.

✏Book Title : Control and Simulation of Multibody Systems
✏Author : Jeffrey Michael Wendlandt
✏Publisher :
✏Release Date : 1997
✏Pages : 326
✏ISBN : UCAL:C3408678
✏Available Language : English, Spanish, And French

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✏Control and Simulation of Multibody Systems Book Summary :

✏Book Title : Nonlinear Control of Multibody Systems with Symmetries Via Shape Change
✏Author : Jinglai Shen
✏Publisher :
✏Release Date : 2002
✏Pages :
✏ISBN : UOM:39015055440112
✏Available Language : English, Spanish, And French

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✏Nonlinear Control of Multibody Systems with Symmetries Via Shape Change Book Summary :

✏Book Title : Journal of Dynamic Systems Measurement and Control
✏Author :
✏Publisher :
✏Release Date : 2001
✏Pages :
✏ISBN : UOM:39015048306677
✏Available Language : English, Spanish, And French

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✏Journal of Dynamic Systems Measurement and Control Book Summary :

✏Book Title : Dynamics and Nonlinear Attitude Control of Multibody Space Systems
✏Author : Chunlei Rui
✏Publisher :
✏Release Date : 1997
✏Pages :
✏ISBN : UOM:39015041250120
✏Available Language : English, Spanish, And French

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✏Dynamics and Nonlinear Attitude Control of Multibody Space Systems Book Summary :

✏Book Title : ROMANSY 12
✏Author : Adam Morecki
✏Publisher : Springer Verlag Wien
✏Release Date : 1998
✏Pages : 461
✏ISBN : STANFORD:36105021836379
✏Available Language : English, Spanish, And French

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✏ROMANSY 12 Book Summary : The CISM-IFToMM Ro.Man.Sy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the twelfth symposia present a world view of the state of the art, including a unique record of the results achieved in Central and Eastern Europe. The proceedings of this twelfth edition focus mainly on problems of mechanical engineering and control.

✏Book Title : Screw Theory A Forgotten Tool in Multibody Dynamics
✏Author :
✏Publisher :
✏Release Date : 2018
✏Pages :
✏ISBN : OCLC:1051390493
✏Available Language : English, Spanish, And French

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✏Screw Theory A Forgotten Tool in Multibody Dynamics Book Summary : Abstract: Mechanism theory, synthesis and control of robots, rigid body dynamics, geometrically exact formulations of the kinematics of continua, structure preserving numerical integration methods, and in part geometric mechanics – they all have a common denominator, namely the theory of screws, for which Lie group theory forms the mathematical foundation. This paper is an attempt to provide a short survey identifying several scientific areas where screw theory is already (sometimes implicitly) used and such where its systematic application could lead to new formulations and computational algorithms. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim).

✏Book Title : Mathematical Reviews
✏Author :
✏Publisher :
✏Release Date : 2006
✏Pages :
✏ISBN : UOM:39015069723651
✏Available Language : English, Spanish, And French

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✏Mathematical Reviews Book Summary :

✏Book Title : Vehicle Manipulator Systems
✏Author : Pål Johan From
✏Publisher : Springer Science & Business Media
✏Release Date : 2013-10-02
✏Pages : 388
✏ISBN : 9781447154631
✏Available Language : English, Spanish, And French

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✏Vehicle Manipulator Systems Book Summary : 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 focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.

✏Book Title : Dissertation Abstracts International
✏Author :
✏Publisher :
✏Release Date : 2004
✏Pages :
✏ISBN : UOM:39015057953377
✏Available Language : English, Spanish, And French

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✏Dissertation Abstracts International Book Summary :

✏Book Title : A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms
✏Author : Joseph Francis D'Costa
✏Publisher :
✏Release Date : 1994
✏Pages : 270
✏ISBN : MINN:31951D01071300O
✏Available Language : English, Spanish, And French

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✏A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms Book Summary :

✏Book Title : Proceedings of the ASME Design Engineering Technical Conferences
✏Author :
✏Publisher :
✏Release Date : 2005
✏Pages :
✏ISBN : UOM:39015058745996
✏Available Language : English, Spanish, And French

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✏Proceedings of the ASME Design Engineering Technical Conferences Book Summary :

✏Book Title : Multibody Dynamical Algorithms Numerical Optimal Control with Detailed Studies in the Control of Jet Engine Compressors and Biped Walking
✏Author : Michael William Hardt
✏Publisher :
✏Release Date : 1999
✏Pages : 350
✏ISBN : UCSD:31822026067850
✏Available Language : English, Spanish, And French

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✏Multibody Dynamical Algorithms Numerical Optimal Control with Detailed Studies in the Control of Jet Engine Compressors and Biped Walking Book Summary :

✏Book Title : International Conference on Bond Graph Modeling January 17 20 1993 Hyatt Regency La Jolla La Jolla California
✏Author : José J. Granda
✏Publisher : Society for Computer Simulation International
✏Release Date : 1993
✏Pages : 341
✏ISBN : UOM:39015008949144
✏Available Language : English, Spanish, And French

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✏International Conference on Bond Graph Modeling January 17 20 1993 Hyatt Regency La Jolla La Jolla California Book Summary :

✏Book Title : Proceedings of ACM SIGGRAPH 2005
✏Author :
✏Publisher :
✏Release Date : 2005
✏Pages : 1238
✏ISBN : UCSD:31822030954606
✏Available Language : English, Spanish, And French

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✏Proceedings of ACM SIGGRAPH 2005 Book Summary :

✏Book Title : Geometric Mechanics and Control of Multibody Systems
✏Author : Charles Palmer Coleman
✏Publisher :
✏Release Date : 1997
✏Pages : 180
✏ISBN : UCAL:C3404265
✏Available Language : English, Spanish, And French

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✏Geometric Mechanics and Control of Multibody Systems Book Summary :

✏Book Title : Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds
✏Author : Taeyoung Lee
✏Publisher : Springer
✏Release Date : 2017-08-14
✏Pages : 539
✏ISBN : 9783319569536
✏Available Language : English, Spanish, And French

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✏Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds Book Summary : 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. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

✏Book Title : Advances in Robot Kinematics 2018
✏Author : Jadran Lenarcic
✏Publisher : Springer
✏Release Date : 2018-07-15
✏Pages : 477
✏ISBN : 9783319931883
✏Available Language : English, Spanish, And French

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✏Advances in Robot Kinematics 2018 Book Summary : This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.

✏Book Title : Flexible Multibody Dynamics
✏Author : Michel Géradin
✏Publisher : Wiley-Blackwell
✏Release Date : 2001-03-05
✏Pages : 327
✏ISBN : UOM:39015049711511
✏Available Language : English, Spanish, And French

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✏Flexible Multibody Dynamics Book Summary : Flexible Multibody Dynamics comprehensively describes the numerical modelling of flexible multibody dynamics systems in space and aircraft structures, vehicles, and mechanical systems. A rigorous approach is followed to handle finite rotations in 3D, with a thorough discussion of the different alternatives for parametrization. Modelling of flexible bodies is treated following the Finite Element technique, a novel aspect in multibody systems simulation. Moreover, this book provides extensive coverage of the formulation of a general purpose software for flexible multibody dynamics analysis, based on an exhaustive treatment of large rotations and finite element modelling, and incorporating useful reference material. Features include different solution techniques such as: * time integration of differential-algebraic equations * non-linear substructuring * continuation methods * nonlinear bifurcation analysis. In essence, this is an ideal text for senior undergraduates, postgraduates and professionals in mechanical and aeronautical engineering, as well as mechanical design engineers and researchers, and engineers working in areas such as kinematics and dynamics of deployable structures, vehicle dynamics and mechanical design.

✏Book Title : On the Modeling of Shells in Multibody Dynamics
✏Author : Olivier A. Bauchau
✏Publisher :
✏Release Date : 2000
✏Pages : 23
✏ISBN : NASA:31769000712151
✏Available Language : English, Spanish, And French

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✏On the Modeling of Shells in Multibody Dynamics Book Summary : Energy preserving/decaying schemes are presented for the simulation of the nonlinear multibody systems involving shell components. The proposed schemes are designed to meet four specific requirements: unconditional nonlinear stability of the scheme, a rigorous treatment of both geometric and material nonlinearities, exact satisfaction of the constraints, and the presence of high frequency numerical dissipation. The kinematic nonlinearities associated with arbitrarily large displacements and rotations of shells are treated in a rigorous manner, and the material nonlinearities can be handled when the constitutive laws stem from the existence of a strain energy density function. The efficiency and robustness of the proposed approach is illustrated with specific numerical examples that also demonstrate the need for integration schemes possessing high frequency numerical dissipation.

✏Book Title : Recent Trends in Robotics
✏Author : Mohammad Jamshidi
✏Publisher : North Holland
✏Release Date : 1986
✏Pages : 555
✏ISBN : UCAL:B4353186
✏Available Language : English, Spanish, And French

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✏Recent Trends in Robotics Book Summary :