Multi Body Kinematics and Dynamics with Lie Groups

Written By Dominique Paul Chevallier
Multi Body Kinematics and Dynamics with Lie Groups
  • Publsiher : Elsevier
  • Release : 22 November 2017
  • ISBN : 008102357X
  • Pages : 334 pages
  • Rating : 4/5 from 21 reviews
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Read or download book entitled Multi Body Kinematics and Dynamics with Lie Groups written by Dominique Paul Chevallier which was release on 22 November 2017, this book published by Elsevier. Available in PDF, EPUB and Kindle Format. Book excerpt: 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 Date : 2017-11-22
  • Total pages : 334
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2014-06-26
  • Total pages : 368
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2016-05-10
  • Total pages : 291
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer Nature
  • Release Date : 2020-08-20
  • Total pages : 539
  • ISBN : 008102357X
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Summary : This volume presents the latest research and industrial applications in the areas of mechanism science, robotics and dynamics. The respective contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2007-10-20
  • Total pages : 223
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2010-05-18
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  • ISBN : 008102357X
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Summary : 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 Date : 2022-02-14
  • Total pages : 384
  • ISBN : 008102357X
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Summary : 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. ...

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  • Author : Sirouspour, Shahin
  • Publisher : IGI Global
  • Release Date : 2013-03-31
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  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2011-12-03
  • Total pages : 623
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer Nature
  • Release Date : 2021-11-28
  • Total pages : 279
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2018-08-01
  • Total pages : 427
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2013-10-02
  • Total pages : 388
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2017-08-14
  • Total pages : 539
  • ISBN : 008102357X
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Summary : 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 ...

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  • Publisher : Springer
  • Release Date : 2019-05-16
  • Total pages : 274
  • ISBN : 008102357X
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Summary : This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of ...

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  • Publisher : Springer Nature
  • Release Date : 2022-06-17
  • Total pages : 494
  • ISBN : 008102357X
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Summary : This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the ...