Dynamic Analyses of Tree-Type Robotic Systems Fixed- and Floating-Based Systems with and without Hydrodynamic Effects
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- Englisch ausgewählt
164,99 €
inkl. gesetzl. MwSt.,
Beschreibung
Produktdetails
Einband
Gebundene Ausgabe
Erscheinungsdatum
08.01.2027
Abbildungen
VI, 257 p. 198 illus., 35 illus. in color.
Verlag
Springer SingaporeSeitenzahl
257
Maße (B/H)
15,5/23,5 cm
Auflage
Second Edition 2027
Sprache
Englisch
ISBN
978-981-9279-36-4
This book presents a unified framework for the dynamic modelling and analysis of tree-type robotic systems, including systems operating under hydrodynamic effects. It introduces the concept of Euler-Angle Joints (EAJs) for representing multiple-degree-of-freedom rotary joints, including revolute, universal, and spherical joints, and develops the kinematic modelling of complex tree-type robotic systems using the concept of kinematic modules, where each module consists of a set of serially connected links. A central feature of the book is the use of Decoupled Natural Orthogonal Complement (DeNOC) matrices for dynamic modelling. The DeNOC-based formulation enables analytical characterization of the terms appearing in the equations of motion, decomposition of the Generalized Inertia Matrix (GIM) for improved physical insight, and systematic development of recursive inverse and forward dynamics algorithms. The book also presents methods for identifying link mass and inertia properties, motor inertia, joint-friction parameters, and hydrodynamic coefficients. The theoretical developments are demonstrated through fixed-base and floating-base robotic systems, with and without hydrodynamic effects. Applications include robotic grippers, planar and spatial bipeds, quadrupeds, hexapods, and tethered underwater vehicle–manipulator systems. Computed torque and feedforward controls are also considered to demonstrate the relevance of the proposed dynamic formulations to robot control. Combining theoretical foundations, computational methods, parameter identification, and practical case studies, the book provides a useful reference for researchers, graduate students, and practicing engineers working in robotics, multibody dynamics, and underwater robotic systems.
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