Rational kinematics
Kinematic chains, that is systems of rigid bodies pairwise coupled by mechanical constraints, are of paramount importance in Applied Sciences and Engineering. To realize this fact it is sufficient to think about Robotics. So, in recent times, a huge amount of research has been done on this topic. However, some of the related papers are somewhat lacking in the necessary rigor, though interesting. So a book like Angeles', devoted to a systematic foundation of this topic, is welcome. The book takes the nonspecialist reader inside this matter assuming only some elementary linear algebra, calculus, and basic mechanics. The `language' of this tract is linear algebra without exploiting the algebra of quaternions. Also, an invariant presentation is adopted and formulas are almost never displayed in component form. Although we do not consider ourselves among those who rate a work important only for this, however we deem the author's style clear and concise. So, even if perhaps the author need not have invoked the inscription on the gates of Dante's Inferno, certainly his presentation is deep and mathematically clear. Chapters 2, 3, 4 deal with rigid-body kinematics while Chapter 5 is devoted to kinematic chains and constitutes the bulk of the book. We quote from the author's Foreword: ``The chapter focuses on the general underlying theory and only outlines the basic problems of kinematics analysis and synthesis. Thus, items such as degree of freedom, and why the well known Chebyshev-Grübler-Kutzbach formulae do not work in many instances, are given due attention. This leads to the introduction of the Jacobian matrix of a kinematic chain. And later: ``An accurate classification of kinematic chains regarding their degree- of-freedom determination is introduced. According to this classification, criteria are derived to distinguish among trivial, exceptional, an paradoxical - also called overconstrained - chains. A method based on the Jacobian matrix of a closed chain is devised, that is applicable to the determination of the degree of freedom of all chains, including those with multiple loops. One more basic concept in the theory of kinematic chains, namely isotropy, is given special attention. We think that the book can be very useful in providing a solid background for approaching the realm of rigid-body systems both for research and practical applications.
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- Kinematics and dynamics of a rigid body in nonholonomic coordinates
- Computation of angular velocity and acceleration tensors by direct measurements
- Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems
- A comparative study of recursive methods
- Application of the group and geometrical properties of \(E(3)\) to the problems of rigid-body systems
- On the parametrization of finite rotations in computational mechanics. A classification of concepts with application to smooth shells
- Rational motions with generic trajectories of low degree
- A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
- A double-strand elastic rod theory
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- On the topology of the eigenframe of the subgrid-scale stress tensor
- scientific article; zbMATH DE number 5872237 (Why is no real title available?)
- Rigid Body Kinematics
- The discrete null space method for the energy consistent integration of constrained mechanical systems. Part II: multibody dynamics
- Kinematics. Theory and applications
- Frame-indifferent beam finite elements based upon the geometrically exact beam theory
- Space kinematics and projective differential geometry over the ring of dual numbers
- Variational integrators for constrained dynamical systems
- On a Hybrid Symbolic-Connectionist Approach for Modeling the Kinematic Robot Map - and Benchmarks for Computer Algebra
- An operational calculus for the Euclidean motion group with applications in robotics and polymer science
- Algebraic computation of the twist of a rigid body through direct measurements
- Constrained integration of rigid body dynamics
- Geometric methods and formulations in computational multibody system dynamics
- Cartesian dynamics
- Computer modelling and geometric construction for four-point synthesis of 4R spherical linkages
- Discrete kinematic systems: Basic relations of combinatorial kinematics
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