{"product_id":"efficient-dynamic-simulation-of-robotic-mechanisms-von-kathryn-lilly","title":"Efficient Dynamic Simulation of Robotic Mechanisms","description":"\n                                \n                \u003cem\u003eEfficient Dynamic Simulation of Robotic Mechanisms\u003c\/em\u003e\n                                  presents computationally efficient algorithms for the dynamic  simulation of closed-chain robotic systems. In particular, the  simulation of single closed chains and simple closed-chain mechanisms  is investigated in detail. Single closed chains are common in many  applications, including industrial assembly operations, hazardous  remediation, and space exploration. Simple closed-chain mechanisms  include such familiar configurations as multiple manipulators moving a  common load, dexterous hands, and multi-legged vehicles. The efficient  dynamics simulation of these systems is often required for testing an  advanced control scheme prior to its implementation, to aid a human  operator during remote teleoperation, or to improve system  performance. \n                \n                \u003cbr\u003e\n                                  In conjunction with the dynamic simulation algorithms, efficient  algorithms are also derived for the computation of the joint space and  operational space inertia matrices of a manipulator. The manipulator  inertia matrix is a significant component of any robot dynamics  formulation and plays an important role in both simulation and  control. The efficient computation of the inertia matrix is highly  desirable for real-time implementation of robot dynamics algorithms.  Several alternate formulations are provided for each inertia matrix.  \n                \n                \u003cbr\u003e\n                                  Computational efficiency in the algorithm is achieved by several  means, including the development of recursive formulations and the use  of efficient spatial transformations and mathematics. All algorithms  are derived and presented in a convenient tabular format using a  modified form of spatial notation, a six-dimensional vector notation  which greatly simplifies the presentation and analysis of multibody  dynamics. Basic definitions and fundamental principles required to use  and understand this notation are provided. The implementation of the  efficient spatial transformations is also discussed in some detail.As  a means of evaluating efficiency, the number of scalar operations  (multiplications and additions) required for each algorithm is  tabulated after its derivation. Specification of the computational  complexity of each algorithm in this manner makes comparison with  other algorithms both easy and convenient. \n                \n                \u003cbr\u003e\n                                  The algorithms presented in \n                \n                \u003cem\u003eEfficient Dynamic Simulation of  Robotic\u003c\/em\u003e\n                                 \n                \n                \u003cem\u003eMechanisms\u003c\/em\u003e\n                                 are among the most efficient robot  dynamics algorithms available at this time. In addition to  computational efficiency, special emphasis is also placed on retaining  as much physical insight as possible during algorithm derivation. The  algorithms are easy to follow and understand, whether the reader is a  robotics novice or a seasoned specialist. \n                \n                \u003cbr\u003e\n                            \n            \u003cdiv class=\"aw-variant-hidden-subtitle-div\" id=\"aw-variant-subtitle-9780792392866\"\u003e\u003ch3\u003e\u003c\/h3\u003e\u003c\/div\u003e\u003cdiv class=\"aw-variant-hidden-subtitle-div\" id=\"aw-variant-subtitle-9781461363675\"\u003e\u003ch3\u003e\u003c\/h3\u003e\u003c\/div\u003e","brand":"Libri","offers":[{"title":"Hardcover - 9780792392866","offer_id":50715076806,"sku":"9780792392866","price":106.99,"currency_code":"EUR","in_stock":true},{"title":"Softcover - 9781461363675","offer_id":39415603527773,"sku":"9781461363675","price":106.99,"currency_code":"EUR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0940\/0622\/files\/868c21d1-0706-4b98-9ce2-32da82c69e97.jpg?v=1774675381","url":"https:\/\/shop.autorenwelt.de\/products\/efficient-dynamic-simulation-of-robotic-mechanisms-von-kathryn-lilly","provider":"Autorenwelt Shop","version":"1.0","type":"link"}