Rigid Body Dynamics Algorithms
| Author | : | |
| Rating | : | 4.76 (617 Votes) |
| Asin | : | 0387743146 |
| Format Type | : | paperback |
| Number of Pages | : | 272 Pages |
| Publish Date | : | 2017-04-05 |
| Language | : | English |
DESCRIPTION:
Gray Thomas said The simplicity of Featherstone's algebra blew my mind. Recommended for those interested in robot control.. This book begins by introducing an algebra for forces and motions which greatly simplifies discussion of dynamics. It proceeds to comprehensively review algorithms for calculating rigid body dynamics with effective and easy to understand mathematics and pseudo-code. The book improves on Featherstone's previous work in its algebra, and its addressing of closed loop systems. As a graduate student and robotics researcher I highly recommend this book for those interested in control . Innovative but rather poorly presented I'm a third year undergraduate mechanical engineering student and I bought this book as my supervisor sugested that I try to implement the concept of 6D spatial vectors into my research project. The book starts out fine, the ideas are sound but I'm having a rather hard time trying to make sense of it due to there being very little use of practical examples in the book and the examples that are in the book are not that well explained; I suspect engineering mathematics students mi
is centered on mechanical models made up of many rigid bodies connected by joints. San Miguel, Mathematical Reviews, Issue 2011 h) . The book is written in a clear way. the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems. Each chapter begins by stating the objectives to be achieved. From the reviews: This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics . The algorithms presented are well documented and worked examples are also given. (A
The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. In addition algorithms are explained simply and clearly, and are expressed in a compact form. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source