By L. Huang

ISBN-10: 3319450409

ISBN-13: 9783319450407

ISBN-10: 3319450417

ISBN-13: 9783319450414

This up to date moment version broadens the reason of rotational kinematics and dynamics — crucial point of inflexible physique movement in third-dimensional area and a subject of a lot larger complexity than linear movement. It expands remedy of vector and matrix, and comprises quaternion operations to explain and learn inflexible physique movement that are present in robotic keep an eye on, trajectory making plans, 3D imaginative and prescient procedure calibration, and hand-eye coordination of robots in meeting paintings, and so on. It beneficial properties up to date remedies of strategies in all chapters and case studies.
The textbook keeps its comprehensiveness in assurance and compactness in dimension, which make it simply obtainable to the readers from multidisciplinary parts who are looking to seize the foremost options of inflexible physique mechanics that are frequently scattered in a number of volumes of conventional textbooks. Theoretical thoughts are defined via examples taken from throughout engineering disciplines and hyperlinks to purposes and extra complicated classes (e.g. business robotics) are provided.
Ideal for college kids and practitioners, this e-book offers readers with a transparent route to knowing inflexible physique mechanics and its value in different sub-fields of mechanical engineering and comparable areas.

Show description

Read Online or Download A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering PDF

Similar robotics & automation books

Get Feedback Systems: Input-Output Properties PDF

This publication used to be the 1st and is still the one ebook to provide a accomplished therapy of the habit of linear or nonlinear platforms once they are hooked up in a closed-loop type, with the output of 1 approach forming the enter of the opposite. The learn of the soundness of such structures calls for one to attract upon numerous branches of arithmetic yet so much significantly sensible research.

New PDF release: Theory of Electroelasticity

Conception of Electroelasticity analyzes the strain, pressure, electrical box and electrical displacement in electroelastic buildings comparable to sensors, actuators and different clever fabrics and constructions. This booklet additionally describes new theories equivalent to the actual variational precept and the inertial entropy conception.

Team Cooperation in a Network of Multi-Vehicle Unmanned - download pdf or read online

Group Cooperation in a community of Multi-Vehicle Unmanned platforms develops a framework for modeling and keep watch over of a community of multi-agent unmanned platforms in a cooperative demeanour and with attention of non-ideal and sensible issues. the main target of this publication is the advance of “synthesis-based” algorithms instead of on traditional “analysis-based” ways to the group cooperation, in particular the crew consensus difficulties.

Download e-book for kindle: Adaptive systems in control and signal processing : by Björn Wittenmark; Karl Johan °Aström; International

This moment IFAC workshop discusses the diversity and functions of adaptive platforms on top of things and sign processing. a number of the ways to adaptive keep an eye on platforms are coated and their balance and suppleness analyzed. the amount additionally contains papers taken from poster classes to provide a concise and complete overview/treatment of this more and more very important box.

Extra info for A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering

Example text

1 as an example. If the observation frame is fAg, the vector is observed as the directional line OA OB . If the observation frame changes to fUg, the vector is observed as the directional line OOB . What happens if the observation frame is fBg? 2 Observation Frame, Description Frame, and Vector Notation 31 zˆ A Fig. 4 Position of a point in the body frame C A pC kˆ {U } Z iˆ O pC { A} yˆ A OA pOA xˆ A ˆj Y X degenerate, and is just a point, and a zero (null) vector is formed. For each directed line observed, its x, y, and z components along the axes of the description frame fAg are different from those along the axes of another description frame fUg, generating different vector expressions.

Q0 ˙ p0 /; ! q ˙! q0 p0 ! p ; q0! p C p0! q C! q q T! 28) Note quaternion multiplication uses both the vector inner (dot) and outer (cross) products. If p and q are pure quaternions, then qp D ! q ! p; q! q D ! q T! qq D q2 D ! q D k! 4 Quaternions 23 In matrix form, Ä Ä ! 0 p D q: ! 3 3 q q0 I C Œ q  p p0 I Œ! p  Obviously, pq ¤ qp, unless Œ! q ! p D 0 or ! q ! p D 0. This means that ! q and ! p are parallel to each other. q0 ; q/; qp D qp; qq D qq D q20 C ! q: q T! q/ D kqk D q p p p qq D qq D q20 C k!

The frame is defined by pOA D rOer ; eO r D sin  cos Oi C sin  sin eO  D cos  cos Oi C cos  sin eO D eO r eO  D sin Oi C cos Oj C cos  k; O Oj O sin  k; Oj; right-hand rule: The spherical coordinates include r, Â, and , where r is the radius of the sphere,  is called the colatitude angle, and is called the azimuth angle. Like a cylindrical coordinate frame, the axes of a spherical coordinate frame depend on its origin. The spherical coordinates and the Cartesian coordinates of the origin OA are related through q r D x2OA C y2OA C z2OA ; 30 2 Orientation and Position Representation Fig.

Download PDF sample

A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering by L. Huang

by Christopher

Rated 4.73 of 5 – based on 42 votes