Multi Body Kinematics and Dynamics with Lie Groups

Written By Dominique Paul Chevallier
Multi Body Kinematics and Dynamics with Lie Groups
  • Publsiher : Elsevier
  • Release : 22 November 2017
  • ISBN : 008102357X
  • Pages : 334 pages
  • Rating : 4/5 from 21 reviews
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Read or download book entitled Multi Body Kinematics and Dynamics with Lie Groups written by Dominique Paul Chevallier which was release on 22 November 2017, this book published by Elsevier. Available in PDF, EPUB and Kindle Format. Book excerpt: Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy Includes theoretical results that have appeared in scientific articles

Multi Body Kinematics and Dynamics with Lie Groups

Multi Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique Paul Chevallier,Jean Lerbet
  • Publisher : Elsevier
  • Release Date : 2017-11-22
  • Total pages : 334
  • ISBN : 008102357X
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Summary : Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the ...

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  • Publisher : Springer
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  • Total pages : 291
  • ISBN : 008102357X
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Summary : This book focuses on structure-preserving numerical methods for flexible multibody dynamics, including nonlinear elastodynamics and geometrically exact models for beams and shells. It also deals with the newly emerging class of variational integrators as well as Lie-group integrators. It discusses two alternative approaches to the discretization in space of nonlinear ...

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  • Publisher : Unknown
  • Release Date : 1997
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  • ISBN : 008102357X
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Summary : Download or read online Geometric Algorithms for the Dynamics and Control of Multibody Systems written by Scott Robert Ploen, published by which was released on 1997. Get Geometric Algorithms for the Dynamics and Control of Multibody Systems Books now! Available in PDF, ePub and Kindle....

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  • ISBN : 008102357X
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Summary : Download or read online A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms written by Joseph Francis D'Costa, published by which was released on 1994. Get A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms ...

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Summary : Download or read online Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005 written by , published by which was released on 2005. Get Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005 Books now! Available in PDF, ...

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Summary : The study of complex, interconnected mechanical systems with rigid and flexible articulated components is of growing interest to both engineers and mathematicians. Recent work in this area reveals a rich geometry underlying the mathematical models used in this context. In particular, Lie groups of symmetries, reduction, and Poisson structures play ...

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Summary : Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile ...

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Summary : Download or read online Nonlinear Control of Multibody Systems with Symmetries Via Shape Change written by Jinglai Shen, published by which was released on 2002. Get Nonlinear Control of Multibody Systems with Symmetries Via Shape Change Books now! Available in PDF, ePub and Kindle....

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Summary : This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce ...

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Summary : This book presents a unified mathematical treatment of diverse problems in the general domain of robotics and associated fields using Clifford or geometric alge- bra. By addressing a wide spectrum of problems in a common language, it offers both fresh insights and new solutions that are useful to scientists and ...