Multi Body Kinematics and Dynamics with Lie Groups

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  • Author : Dominique Paul Chevallier
  • Publisher : Elsevier
  • Pages : 334 pages
  • ISBN : 008102357X
  • Rating : /5 from reviews
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Download or Read online Multi Body Kinematics and Dynamics with Lie Groups full in PDF, ePub and kindle. this book written by Dominique Paul Chevallier and published by Elsevier which was released on 22 November 2017 with total page 334 pages. We cannot guarantee that Multi Body Kinematics and Dynamics with Lie Groups book is available in the library, click Get Book button and read full online book in your kindle, tablet, IPAD, PC or mobile whenever and wherever You Like. 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

Multi Body Kinematics and Dynamics with Lie Groups

Multi Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique Paul Chevallier,Jean Lerbet
  • Publisher : Elsevier
  • Release : 22 November 2017
GET THIS BOOK Multi Body Kinematics and Dynamics with Lie Groups

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

Multi Body Kinematics and Dynamics with Lie Groups

Multi Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique P. Chevallier,Jean Lerbet
  • Publisher : Iste Press - Elsevier
  • Release : 01 December 2017
GET THIS BOOK Multi Body Kinematics and Dynamics with Lie Groups

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

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  • Publisher : Springer
  • Release : 26 June 2014
GET THIS BOOK Multibody Dynamics

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

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  • Publisher : Springer
  • Release : 10 May 2016
GET THIS BOOK Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics

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

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  • Publisher : Springer Nature
  • Release : 20 August 2020
GET THIS BOOK New Trends in Mechanism and Machine Science

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  • Publisher : Springer Science & Business Media
  • Release : 20 October 2007
GET THIS BOOK Dynamics of Multibody Systems

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.

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  • Publisher : IGI Global
  • Release : 31 March 2013
GET THIS BOOK Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

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.

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  • Publisher : Springer Science & Business Media
  • Release : 18 May 2010
GET THIS BOOK Symbiotic Multi Robot Organisms

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.

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  • Publisher : Elsevier
  • Release : 14 February 2022
GET THIS BOOK Spacecraft Attitude Control

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

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  • Publisher : Springer
  • Release : 03 December 2011
GET THIS BOOK Intelligent Robotics and Applications

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

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  • Publisher : Springer Nature
  • Release : 28 November 2021
GET THIS BOOK Dynamics of Rigid Flexible Robots and Multibody Systems

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

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  • Publisher : Springer
  • Release : 14 August 2017
GET THIS BOOK Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

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.

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  • Publisher : Springer
  • Release : 01 August 2018
GET THIS BOOK EuCoMeS 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

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GET THIS BOOK Vehicle Manipulator Systems

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

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  • Release : 16 May 2019
GET THIS BOOK Interdisciplinary Applications of Kinematics

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