Matches in Library of Congress for { <http://lccn.loc.gov/2007936980> ?p ?o. }
Showing items 1 to 23 of
23
with 100 items per page.
- 2007936980 contributor B11066015.
- 2007936980 created "c2008.".
- 2007936980 date "2008".
- 2007936980 date "c2008.".
- 2007936980 dateCopyrighted "c2008.".
- 2007936980 description "1.1 Dynamics Algorithms 1 -- 1.2 Spatial Vectors 3 -- 1.3 Unity and Notation 4 -- 2 Spatial Vector Algebra 7 -- 2.1 Mathematical Preliminaries 7 -- 2.2 Spatial Velocity 10 -- 2.3 Spatial Force 13 -- 2.4 Plucker 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 -- 3 Dynamics of Rigid Body 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 -- 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 -- 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 -- [tau superscript a] 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 -- 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 -- A Spatial Vector Arithmetic 241 -- A.1 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.".
- 2007936980 description "Includes bibliography (p. [257]-264) and index.".
- 2007936980 extent "ix, 272 p. :".
- 2007936980 identifier "0387743146 (alk. paper)".
- 2007936980 identifier "9780387743141 (alk. paper)".
- 2007936980 identifier "9780387743158 (e-ISBN)".
- 2007936980 issued "2008".
- 2007936980 issued "c2008.".
- 2007936980 language "eng".
- 2007936980 publisher "New York : Springer,".
- 2007936980 subject "629.892 22".
- 2007936980 subject "Dynamics, Rigid.".
- 2007936980 subject "QA861 .F43 2008".
- 2007936980 subject "Recursive functions.".
- 2007936980 subject "Robots Dynamics.".
- 2007936980 tableOfContents "1.1 Dynamics Algorithms 1 -- 1.2 Spatial Vectors 3 -- 1.3 Unity and Notation 4 -- 2 Spatial Vector Algebra 7 -- 2.1 Mathematical Preliminaries 7 -- 2.2 Spatial Velocity 10 -- 2.3 Spatial Force 13 -- 2.4 Plucker 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 -- 3 Dynamics of Rigid Body 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 -- 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 -- 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 -- [tau superscript a] 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 -- 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 -- A Spatial Vector Arithmetic 241 -- A.1 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.".
- 2007936980 title "Rigid body dynamics algorithms / Roy Featherstone.".
- 2007936980 type "text".