Robot and multibody dynamics. Analysis and algorithms.

DOI10.1007/978-1-4419-7267-5MaRDI QIDQ3078445zbMATH OpenOpenAlexFDO

Authors Abhinandan Jain

Publication date 21 February 2011

Full work available at URL https://doi.org/10.1007/978-1-4419-7267-5

zbMATH Keywords

spatial operator algebraserial-chain kinematicsspatial kernel operatorspatial propagation operator

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60)

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(31)

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• Geometric methods and formulations in computational multibody system dynamics
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• Computational flexible multibody dynamics. A differential-algebraic approach
• Graph theoretic foundations of multibody dynamics. I: Structural properties
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• Forward and inverse dynamics of nonholonomic mechanical systems
• Path defined directed graph vector (\textit{Pgraph}) method for multibody dynamics
• An analytical workbench for system level multibody dynamics
• Closed-form time derivatives of the equations of motion of rigid body systems
• Joint-coordinate adjoint method for optimal control of multibody systems
• Inverse dynamics simulation of rigid multibody system based on spatial operator algebra theory
• Dynamic software flow of the rigid-flexible coupling system based on spatial operator algebra theory
• Multibody model of the human-inspired robot CHARMIE
• Dynamics of rigid-flexible robots and multibody systems
• A concise introduction to mechanics of rigid bodies. Multidisciplinary engineering.

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