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Summary: The Deep side of robotics
Review: 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. ...
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