Dynamics of Tree-Type Robotic Systems

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.

Author: Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt

Publisher: Springer

Publication Date: Jan 29, 2015

Number of Pages: NA pages

Language: English

Binding: Paperback

ISBN-10: 9401782059

ISBN-13: 9789401782050