Dynamics of Tree-Type Robotic Systems
Suril Vijaykumar Shah, McGill University;
Subir Kumar Saha, IIT Delhi;
Jayanta Kumar Dutt, IIT Delhi
Springer International Publishing, 2013
ISBN: 978-94-007-5005-0;
Language: English
Dynamics of Tree-Type Robotic Systems addresses dynamic modeling 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 the 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 in virtual testing of robot operation, trajectory planning, and control.
The book is accompanied by a Recursive Dynamics Simulator (ReDySim), developed in MATLAB and available on a companion site. In addition, chapter 10 provides instruction on how to use ReDySim, as well as relevant MATLAB code.
