Rigid body dynamics algorithms:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York
Springer
2008
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | IX, 272 S graph. Darst. |
| ISBN: | 9780387743141 9780387743158 0387743146 |
Internformat
MARC
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Datensatz im Suchindex
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| adam_text | Contents Preface v 1 Introduction 1.1 Dynamics Algorithms ....................................................................... 1.2 Spatial Vectors................................................................................... 1.3 Units and Notation............................................................................. 1.4 Readers’ Guide................................................................................... 1.5 Further Reading................................................................................ 1 1 3 4 5 6 2 Spatial VectorAlgebra 7 2.1 Mathematical Preliminaries............................................................. 7 2.2 Spatial Velocity................................................................................... 10 2.3 Spatial Force...................................................................................... 13 2.4 Plücker Notation................................................................................ 15 2.5 Line Vectors and Free Vectors........................................................... 16 2.6 Scalar Product................................................................................... 17 2.7 Using Spatial Vectors ....................................................................... 18 2.8 Coordinate Transforms........................................................................... 20 2.9 Spatial Cross Products....................................................................... 23 2.10 Differentiation ................................................................................... 25
2.11 Acceleration......................................................................................... 28 2.12 Momentum......................................................................................... 31 2.13 Inertia...................................................................................................... 32 2.14 Equation of Motion............................................................................. 35 2.15 Inverse Inertia ................................................................................... 36 2.16 Planar Vectors................................................................................... 37 2.17 Further Reading . . . ........................................................................... 38 3 Dynamics of RigidBody Systems 39 3.1 Equations of Motion.......................................................................... 40 3.2 Constructing Equations of Motion................................................. 42 3.3 Vector Subspaces.................................................................................... 46 3.4 Classification of Constraints.............................................................. 50 vii
viii CONTENTS 3.5 Joint Constraints................................................................................. 53 3.6 Dynamics of a Constrained Rigid Body ............................................. 57 3.7 Dynamics of a Multibody System...................................................... 60 4 Modelling Rigid Body Systems 65 4.1 Connectivity ........................................................................................ 66 4.2 Geometry.............................................................................................. 73 4.3 Denavit-Hartenberg Parameters......................................................... 75 4.4 Joint Models ........................................................................................ 78 4.5 Spherical Motion................................................................................. 84 4.6 A Complete System Model ............................................................... 87 5 Inverse Dynamics 89 5.1 Algorithm Complexity........................................................................ 89 5.2 Recurrence Relations........................................................................... 90 5.3 The Recursive Newton-Euler Algorithm......................................... 92 5.4 The Original Version........................................................................... 97 5.5 Additional Notes................................................................................. 99 6 Forward Dynamics — Inertia Matrix Methods 101 6.1 The Joint-Space Inertia
Matrix........................................................... 102 6.2 The Composite-Rigid-Body Algorithm.............................................. 104 6.3 A Physical Interpretation.................................................................... 108 6.4 Branch-Induced Sparsity....................................................................... 110 6.5 Sparse Factorization Algorithms ........................................................ 112 6.6 Additional Notes....................................................................................117 7 Forward Dynamics — Propagation Methods 119 7.1 Articulated-Body Inertia..................................................................... 119 7.2 Calculating Articulated-Body Inertias............................................. 123 7.3 The Articulated-Body Algorithm...................................................... 128 7.4 Alternative Assembly Formulae......................................................... 131 7.5 Multiple Handles.................................................................................. 136 8 Closed Loop Systems 141 8.1 Equations of Motion........................................................................... 141 8.2 Loop Constraint Equations............................................................... 143 8.3 Constraint Stabilization..................................................................... 145 8.4 Loop Joint Forces.................................................................................. 148 8.5 Solving the Equations of
Motion...................................................... 149 8.6 Algorithm for C — To ......................................................................... 152 8.7 Algorithm for K and k ..................................................................... 154 8.8 Algorithm for G and g.........................................................................156 8.9 Exploiting Sparsity in K and G ...................................................... 158 8.10 Some Properties of Closed-Loop Systems.......................................... 159
CONTENTS ix 8.11 Loop Closure Functions...................................................................... 161 8.12 Inverse Dynamics.................................................................................. 164 8.13 Sparse Matrix Method......................................................................... 166 9 Hybrid Dynamics and Other Topics 171 9.1 Hybrid Dynamics.................................................................................. 171 9.2 Articulated-Body Hybrid Dynamics ................................................ 176 9.3 Floating Bases ..................................................................................... 179 9.4 Floating-Base Forward Dynamics.......................................................181 9.5 Floating-Base Inverse Dynamics..........................................................183 9.6 Gears .....................................................................................................186 9.7 Dynamic Equivalence............................................................................ 189 10 Accuracy and Efficiency 195 10.1 Sources of Error .................................................................................. 196 10.2 The Sensitivity Problem...................................................................... 199 10.3 Efficiency.............................................................................................. 201 10.4 Symbolic Simplification ......................................................................209 11 Contact and Impact 213 11.1 Single Point
Contact............................................................................ 213 11.2 Multiple Point Contacts......................................................................216 11.3 A Rigid-Body System with Contacts................................................ 219 11.4 Inequality Constraints......................................................................... 222 11.5 Solving Contact Equations................................................................... 224 11.6 Contact Geometry............................................................................... 227 11.7 Impulsive Dynamics............................................................................ 230 11.8 Soft Contact ........................................................................................ 235 11.9 Further Reading.................................................................................. 239 A Spatial Vector Arithmetic 241 A.l Simple Planar Arithmetic.................................................................. 241 A.2 Simple Spatial Arithmetic.................................................................. 243 A.3 Compact Representations...................................................................245 A.4 Axial Screw Transforms..................................................................... 249 A.5 Some Efficiency Tricks......................................................................... 252 Bibliography 257 Symbols 265 Index 267
|
| adam_txt |
Contents Preface v 1 Introduction 1.1 Dynamics Algorithms . 1.2 Spatial Vectors. 1.3 Units and Notation. 1.4 Readers’ Guide. 1.5 Further Reading. 1 1 3 4 5 6 2 Spatial VectorAlgebra 7 2.1 Mathematical Preliminaries. 7 2.2 Spatial Velocity. 10 2.3 Spatial Force. 13 2.4 Plücker Notation. 15 2.5 Line Vectors and Free Vectors. 16 2.6 Scalar Product. 17 2.7 Using Spatial Vectors . 18 2.8 Coordinate Transforms. 20 2.9 Spatial Cross Products. 23 2.10 Differentiation . 25
2.11 Acceleration. 28 2.12 Momentum. 31 2.13 Inertia. 32 2.14 Equation of Motion. 35 2.15 Inverse Inertia . 36 2.16 Planar Vectors. 37 2.17 Further Reading . . . . 38 3 Dynamics of RigidBody Systems 39 3.1 Equations of Motion. 40 3.2 Constructing Equations of Motion. 42 3.3 Vector Subspaces. 46 3.4 Classification of Constraints. 50 vii
viii CONTENTS 3.5 Joint Constraints. 53 3.6 Dynamics of a Constrained Rigid Body . 57 3.7 Dynamics of a Multibody System. 60 4 Modelling Rigid Body Systems 65 4.1 Connectivity . 66 4.2 Geometry. 73 4.3 Denavit-Hartenberg Parameters. 75 4.4 Joint Models . 78 4.5 Spherical Motion. 84 4.6 A Complete System Model . 87 5 Inverse Dynamics 89 5.1 Algorithm Complexity. 89 5.2 Recurrence Relations. 90 5.3 The Recursive Newton-Euler Algorithm. 92 5.4 The Original Version. 97 5.5 Additional Notes. 99 6 Forward Dynamics — Inertia Matrix Methods 101 6.1 The Joint-Space Inertia
Matrix. 102 6.2 The Composite-Rigid-Body Algorithm. 104 6.3 A Physical Interpretation. 108 6.4 Branch-Induced Sparsity. 110 6.5 Sparse Factorization Algorithms . 112 6.6 Additional Notes.117 7 Forward Dynamics — Propagation Methods 119 7.1 Articulated-Body Inertia. 119 7.2 Calculating Articulated-Body Inertias. 123 7.3 The Articulated-Body Algorithm. 128 7.4 Alternative Assembly Formulae. 131 7.5 Multiple Handles. 136 8 Closed Loop Systems 141 8.1 Equations of Motion. 141 8.2 Loop Constraint Equations. 143 8.3 Constraint Stabilization. 145 8.4 Loop Joint Forces. 148 8.5 Solving the Equations of
Motion. 149 8.6 Algorithm for C — To . 152 8.7 Algorithm for K and k . 154 8.8 Algorithm for G and g.156 8.9 Exploiting Sparsity in K and G . 158 8.10 Some Properties of Closed-Loop Systems. 159
CONTENTS ix 8.11 Loop Closure Functions. 161 8.12 Inverse Dynamics. 164 8.13 Sparse Matrix Method. 166 9 Hybrid Dynamics and Other Topics 171 9.1 Hybrid Dynamics. 171 9.2 Articulated-Body Hybrid Dynamics . 176 9.3 Floating Bases . 179 9.4 Floating-Base Forward Dynamics.181 9.5 Floating-Base Inverse Dynamics.183 9.6 Gears .186 9.7 Dynamic Equivalence. 189 10 Accuracy and Efficiency 195 10.1 Sources of Error . 196 10.2 The Sensitivity Problem. 199 10.3 Efficiency. 201 10.4 Symbolic Simplification .209 11 Contact and Impact 213 11.1 Single Point
Contact. 213 11.2 Multiple Point Contacts.216 11.3 A Rigid-Body System with Contacts. 219 11.4 Inequality Constraints. 222 11.5 Solving Contact Equations. 224 11.6 Contact Geometry. 227 11.7 Impulsive Dynamics. 230 11.8 Soft Contact . 235 11.9 Further Reading. 239 A Spatial Vector Arithmetic 241 A.l Simple Planar Arithmetic. 241 A.2 Simple Spatial Arithmetic. 243 A.3 Compact Representations.245 A.4 Axial Screw Transforms. 249 A.5 Some Efficiency Tricks. 252 Bibliography 257 Symbols 265 Index 267 |
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| index_date | 2024-07-02T20:25:32Z |
| indexdate | 2024-07-09T21:14:00Z |
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| isbn | 9780387743141 9780387743158 0387743146 |
| language | English |
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| spelling | Featherstone, Roy Verfasser aut Rigid body dynamics algorithms Roy Featherstone New York Springer 2008 IX, 272 S graph. Darst. txt rdacontent n rdamedia nc rdacarrier Mehrkörpersystem - Dynamik - Numerisches Verfahren Roboter (DE-588)4050208-9 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Algorithmus (DE-588)4001183-5 gnd rswk-swf Numerisches Verfahren (DE-588)4128130-5 gnd rswk-swf Dynamik (DE-588)4013384-9 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 s Dynamik (DE-588)4013384-9 s Numerisches Verfahren (DE-588)4128130-5 s DE-604 Roboter (DE-588)4050208-9 s Algorithmus (DE-588)4001183-5 s Digitalisierung UB Bamberg - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016430736&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Featherstone, Roy Rigid body dynamics algorithms Mehrkörpersystem - Dynamik - Numerisches Verfahren Roboter (DE-588)4050208-9 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Algorithmus (DE-588)4001183-5 gnd Numerisches Verfahren (DE-588)4128130-5 gnd Dynamik (DE-588)4013384-9 gnd |
| subject_GND | (DE-588)4050208-9 (DE-588)4038390-8 (DE-588)4001183-5 (DE-588)4128130-5 (DE-588)4013384-9 |
| title | Rigid body dynamics algorithms |
| title_auth | Rigid body dynamics algorithms |
| title_exact_search | Rigid body dynamics algorithms |
| title_exact_search_txtP | Rigid body dynamics algorithms |
| title_full | Rigid body dynamics algorithms Roy Featherstone |
| title_fullStr | Rigid body dynamics algorithms Roy Featherstone |
| title_full_unstemmed | Rigid body dynamics algorithms Roy Featherstone |
| title_short | Rigid body dynamics algorithms |
| title_sort | rigid body dynamics algorithms |
| topic | Mehrkörpersystem - Dynamik - Numerisches Verfahren Roboter (DE-588)4050208-9 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Algorithmus (DE-588)4001183-5 gnd Numerisches Verfahren (DE-588)4128130-5 gnd Dynamik (DE-588)4013384-9 gnd |
| topic_facet | Mehrkörpersystem - Dynamik - Numerisches Verfahren Roboter Mehrkörpersystem Algorithmus Numerisches Verfahren Dynamik |
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