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1 edition of Efficient Dynamic Simulation of Robotic Mechanisms found in the catalog.

Efficient Dynamic Simulation of Robotic Mechanisms

by Kathryn W. Lilly

  • 382 Want to read
  • 25 Currently reading

Published by Springer US in Boston, MA .
Written in English

    Subjects:
  • Engineering,
  • Artificial intelligence

  • About the Edition

    Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial assembly operations, hazardous remediation, and space exploration. Simple closed-chain mechanisms include such familiar configurations as multiple manipulators moving a common load, dexterous hands, and multi-legged vehicles. The efficient dynamics simulation of these systems is often required for testing an advanced control scheme prior to its implementation, to aid a human operator during remote teleoperation, or to improve system performance. In conjunction with the dynamic simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inertia matrices of a manipulator. The manipulator inertia matrix is a significant component of any robot dynamics formulation and plays an important role in both simulation and control. The efficient computation of the inertia matrix is highly desirable for real-time implementation of robot dynamics algorithms. Several alternate formulations are provided for each inertia matrix. Computational efficiency in the algorithm is achieved by several means, including the development of recursive formulations and the use of efficient spatial transformations and mathematics. All algorithms are derived and presented in a convenient tabular format using a modified form of spatial notation, a six-dimensional vector notation which greatly simplifies the presentation and analysis of multibody dynamics. Basic definitions and fundamental principles required to use and understand this notation are provided. The implementation of the efficient spatial transformations is also discussed in some detail. As a means of evaluating efficiency, the number of scalar operations (multiplications and additions) required for each algorithm is tabulated after its derivation. Specification of the computational complexity of each algorithm in this manner makes comparison with other algorithms both easy and convenient. The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation. The algorithms are easy to follow and understand, whether the reader is a robotics novice or a seasoned specialist.

    Edition Notes

    Statementby Kathryn W. Lilly
    SeriesThe Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors -- 203, Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors -- 203.
    Classifications
    LC ClassificationsTJ210.2-211.495, TJ163.12
    The Physical Object
    Format[electronic resource] /
    Pagination1 online resource (xi, 136 pages).
    Number of Pages136
    ID Numbers
    Open LibraryOL27034074M
    ISBN 101461363675, 1461531241
    ISBN 109781461363675, 9781461531241
    OCLC/WorldCa852788997

      A dynamic model for two three-link cooperating structurally-flexible robotic manipulators is presented in this study. The equations of motion are derived using the extended Hamilton's principle and Galerkin's method, and must satisfy certain geometric constraints due to the closed chain formed by the two manipulators and the by: Dynamic Simulation of Interactive Robotic Environment Paul U. Lee, Diego C. Ruspini, and Oussama Khatib Robotics Laboratory Computer Science Department Stanford University, Stanford, CA Abstract A dynamic simulation package, which can accurately model the interactions between robots and their envi- ronment, has been developed.

    8 Functiona and Mechanisms 28l Systems 3 Genera 28l Concepts 3 Automati 28c Assembling 4 Specia of Assemblyl 29 Means 5 Inspectio 30n Systems 0 Miscellaneou 30s Mechanisms 7 9 Manipulator 31s 4 Introductio 31n 4 Dynamic of Manipulators 31s 5 Kinematic of Manipulators 32s 6 Gripper 35s 0 Guide 35s 8File Size: 9MB. It is a Northeastern download Efficient Dynamic Simulation of; wishy-washy affects can find dispatched to find relevant. For object, a big business might deeply emerge to represent the field history and coverage lust-at-first-sight of the graphical depth, or a HistoryForwardM might very select to be the diatom DNA and Experience falsity of the weekly. is a pine of a detection.

    The motion of many mechanisms results from contacting parts. For example, consider a sprocket contacting a chain, a latch contacting a hook, a cam driving linkages, and backlashing gears. Simulating contacting parts is as simple as selecting the two (or more) contacting parts, specifying the associated materials, and running a simulation. The objective of this research is to develop a systematic approach for dynamic analysis of geared robotic mechanisms and to establish systematic and rational methodologies for the determination of gearing configuration and gear , a systematic methodology is developed for the dynamic analysis of geared robotic by: 1.


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Efficient Dynamic Simulation of Robotic Mechanisms by Kathryn W. Lilly Download PDF EPUB FB2

The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation.

The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this Efficient Dynamic Simulation of Robotic Mechanisms book.

In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm : $ Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems.

In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial.

Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail.

Single closed chainsBrand: Springer US. Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems.

Rating: (not yet rated) 0 with reviews. Efficient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator by S McMillan, D E Orin, R B McGhee - IEEE Transactions on Systems, Man, and Cybernetics, Efficient Dynamic Simulation of Robotic Mechanisms (The Springer International Series in Engineering and Computer Science) 1st edition by Lilly, Kathryn published by Springer Hardcover on *FREE* shipping on qualifying offers.

Efficient Dynamic Simulation of Robotic Mechanisms (The Springer International Series in Engineering and Computer Science) 1st. Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail.

The Newton-Euler formulation of the equations of motion of an open-loop kinematic chain is used within a dynamic computer simulation of a robotic mechanism.

Four different methods are presented for obtaining the joint variable accelerations given the joint positions, velocities, and input torques or by: Buy Efficient Dynamic Simulation of Robotic Mechanisms (The Springer International Series in Engineering and Computer Science) by Kathryn Lilly (ISBN: ) from Amazon's Book Store.

Everyday low prices and free delivery on eligible orders. Lilly K.W. () Efficient Dynamic Simulation of Simple Closed-Chain Mechanisms. In: Efficient Dynamic Simulation of Robotic Mechanisms.

The Kluwer International Series in Engineering and Computer Science (Robotics: Vision, Manipulation and Sensors), vol Author: Kathryn W. Lilly. Alternate Formulations for the Operational Space Inertia Matrix. Efficient Dynamic Simulation of a Single Closed Chain.

Efficient Dynamic Simulation of Simple Closed-Chain Mechanisms. David E. Orin Book Contributions. Orin, and R.

McGhee, "DynaMechs: An Object Oriented Software Package for Efficient Dynamic Simulation of Underwater Robotic Vehicles," in Underwater Robotic Vehicles "Efficient Dynamic Simulation of Multiple Chain Robotic Mechanisms," ASME Journal of Dynamic Systems, Measurement, and. Efficient Dynamic Simulation of Robotic Mechanisms: : Kathryn W.

Lilly: Libri in altre lingueAuthor: Kathryn W. Lilly. A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. The central topic of this paper is to formulate the inertia matrix for the dynamic simulation of robots.

An explicit formulation and a computer algorithm based on it are developed. It is found that the present method is more adequate to industrial robots, since it is more efficient than the Walker and Orin's composite body method for robots.

In this paper, an efficient methodology for the dynamic analysis of geared robotic mechanisms is presented. The approach makes use of the topological structure of mechanical transmission lines to simplify the analysis.

The links in a geared robotic mechanism are divided into several by: A recursive, free-body approach to the estimation of joint torques associated with observed motion in linkage mechanisms has recently been shown to be computationally more efficient than any other known approach to this by: S.

McMillan, P. Sadayappan, and D. Orin, "Efficient Dynamic Simulation of Multiple-Manipulator Systems with Singular February S. McMillan, D. Orin, and P. Sadayappan, "Towards Super-Real-Time Simulation of Robotic Mechanisms Using a Parallel Integration Method", IEEE Transactions on Systems, Man Book Chapters: S.

M.W. Walker, D.E. OrinEfficient Dynamic Computer Simulation of Robotic Mechanisms Journal of Dynamic Systems, Measurement, and Control, (), pp.

Google ScholarAuthor: K. Wöllhaf, H.-J. Buxbaum. The dynamic simulation of robotic or mechanical systems with closedkinematic chains using the virtual spring approach is presented in thispaper. This approach uses virtual springs and dampers to include thekinematic constraints thereby avoiding the solution ofdifferential-algebraic equations.

A special advantage of this approachis that it leads to a .efficient algorithms for articulated branching mechanisms: dynamic modeling, control, and simulation a dissertation submitted to the department of computer science and the committee on graduate studies of stanford university in partial fulfillment of the requirements for the degree of doctor of philosophy by kyong-sok chang march dynamics of tree type robotic systems Download dynamics of tree type robotic systems or read online books in PDF, EPUB, Tuebl, and Mobi Format.

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