Advanced Dynamics Modeling, Duality and Control of Robotic Systems

This book provides a comprehensive introduction to advanced dynamics modeling and control strategies for robotic systems, with a focus on the uniqueness issue of representing orientation or rotation. It also covers fundamentals of mathematics and physics, computer simulations, and 3D animations to verify the new theories and algorithms. The duality principle is discussed to guide dynamics modeling and analysis for various robotic systems.

Format: Hardback
Length: 306 pages
Publication date: 24 September 2021
Publisher: Taylor & Francis Ltd

This comprehensive book delves into the intricate realm of advanced dynamics modeling and control strategies for diverse robotic systems. It offers detailed theoretical reviews and essential preparations to facilitate the development of cutting-edge techniques. With a focus on addressing the unique challenges of representing orientation or rotation, the book proposes an innovative isometric embedding approach. This novel approach not only simplifies the dynamic formulation for robotic systems but also opens up a new avenue for realizing orientational trajectory-tracking control procedures.

Furthermore, the book provides a thorough introduction to the fundamental mathematics and physics required for modeling robot dynamics and designing efficient control algorithms. Numerous computer simulations and realistic 3D animations are included to validate the proposed theories and algorithms, ensuring their practicality. Additionally, the book explores the principle of duality, which plays a pivotal role in robot kinematics, statics, and dynamics. By leveraging the duality principle, researchers and engineers can guide the dynamics modeling and analysis in the right direction for a wide range of robotic systems, spanning from open serial-chain mechanisms to closed parallel-chain configurations.

This book is designed to serve as a valuable research reference for a diverse audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers with interests in robotics, control, and applications. Its comprehensive coverage and insightful discussions make it an indispensable resource for anyone seeking to advance their knowledge in this field.

Weight: 628g
Dimension: 213 x 267 x 25 (mm)
ISBN-13: 9780367653712