000			02014 a2200253 4500
003			OSt
020			_a9789811627972
040			_cIIT Kanpur
041			_aeng
082			_a629.892 _bN153d
100			_aNandihal, Paramanand Vivekanand
245			_aDynamics of rigid-flexible robots and multibody systems _cParamanand Vivekanand Nandihal, Ashish Mohan and Subir Kumar Saha
260			_bSpringer _c2022 _aSingapore
300			_axviii, 279p
440			_aIntelligent systems, control and automation: science and engineering
490			_a/ edited by Kimon P. Valavanis _v; v.100
520			_aThis book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.
650			_aRobots
650			_aMultibody systems
650			_aAutomatic control
700			_aMohan, Ashish
700			_aSaha, Subir Kumar
942			_cBK
999			_c566824 _d566824