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Robot Dynamics Algorithms (The Springer International Series in Engineering and Computer Science) [Hardcover]

Roy Featherstone


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31 July 1987 0898382300 978-0898382303
"Robot Dynamics Algorithms, Second Edition" presents the subject of computational rigid-body dynamics through the medium of spatial (6D) vector notation. It explains how to model a rigid-body system and how to analyze it. The book is a comprehensive collection of the best rigid-body dynamics algorithms in a single source. This second edition includes nearly twice the content of the previous edition with algorithms shown explicitly in pseudocode and laid out in tables for easy implementation. It also has more algorithms than the previous edition including algorithms that exploit sparse matrices and ones for kinematic loops. New material on the mathematics of spatial (6D) vectors and how to analyze rigid-body systems using spatial vectors is covered. Finally there is an entire chapter devoted to how to build computer-oriented models of rigid-body systems.This book is for engineers with knowledge of rigid-body dynamics who are interested in calculating the dynamics of a rigid-body system. It is both an algorithms recipe book as well as a guide to the analysis and deeper understanding of rigid-body systems.
--This text refers to an alternate Hardcover edition.

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From the reviews: "This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics ... . is centered on mechanical models made up of many rigid bodies connected by joints. ... The book is written in a clear way. Each chapter begins by stating the objectives to be achieved. The algorithms presented are well documented and worked examples are also given. ... the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems." (A. San Miguel, Mathematical Reviews, Issue 2011 h) --This text refers to an alternate Hardcover edition.

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Amazon.com: 4.0 out of 5 stars  3 reviews
12 of 13 people found the following review helpful
5.0 out of 5 stars The Deep side of robotics 15 Jun 2001
By S. O'Reilly - Published on Amazon.com
Format:Hardcover
This 200 page book might not look like much when you first open it up. But...
If you want to understand concepts like: Spatial Kinematics; Spatial Dynamics; Inverse Dynamics; Forward Dynamics - The Composite-Rigid-Body Method; Extending the Dynamics Algorithms; Coordinate Systems and Efficiency; Contact, Impact, and Kinematic Loops, this book is for you!
If you want to learn how to computate efficient algorithms for calculating the dynamics of robot mechanisms represented as systems of rigid bodies, then this book is for you!
The efficiency of these calculations are acchieved by the use of recursive formulations of the equations of motion. The use of recursive formulations in dynamics is fairly new, so the priciples of their operation and reason for their efficiency are explained.
These algorithms are initially described in terms of an un-branhed, open-loop Kinematic chain - atypical serial robot mechanism. This is done to keep the descriptions of the algorithms simple, and is in line with descriptions appearing in the literature. Once the basic algorithms have been introduced, the restrictions on the mechanism are lifted and the algorithms are extended to cope with kinematic trees and loops, and general constraints at the joints. The problem of simulating the effect of contact between a robot and its environment is also considered. Some consideration is given to the details and practical problems of implementing these algorithms on a computer.
The reader is asumed to have a knowledge of vectorial mechanics. No prior knowledge of robot dynamics, or the dynamics of any other kind of rigid-body system, is required.
...
1 of 1 people found the following review helpful
5.0 out of 5 stars The simplicity of Featherstone's algebra blew my mind. Recommended for those interested in robot control. 3 Sep 2013
By Gray Thomas - Published on Amazon.com
Format:Hardcover|Verified Purchase
This book begins by introducing an algebra for forces and motions which greatly simplifies discussion of dynamics. It proceeds to comprehensively review algorithms for calculating rigid body dynamics with effective and easy to understand mathematics and pseudo-code. The book improves on Featherstone's previous work in its algebra, and its addressing of closed loop systems. As a graduate student and robotics researcher I highly recommend this book for those interested in control and simulation design.
3 of 5 people found the following review helpful
2.0 out of 5 stars Innovative but rather poorly presented 12 Nov 2009
By Mohd F. B. Razak - Published on Amazon.com
Format:Hardcover|Verified Purchase
I'm a third year undergraduate mechanical engineering student and I bought this book as my supervisor sugested that I try to implement the concept of 6D spatial vectors into my research project. The book starts out fine, the ideas are sound but I'm having a rather hard time trying to make sense of it due to there being very little use of practical examples in the book and the examples that are in the book are not that well explained; I suspect engineering mathematics students might be able to benefit more from the book but as a mechanical student I find that I'm going to need a lot of assistance to understand the presented material.
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