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008			230119s2022 si | s |||| 0|eng d
020			_a9789811627989
024	7		_a10.1007/978-981-16-2798-9 _2doi
040			_aES-MaUEC _bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ211 _b2022 EB
100	1		_aNandihal, Paramanand Vivekanand _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9686049
245	1	0	_aDynamics of Rigid-Flexible Robots and Multibody Systems _cby Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha
250			_a1st edition 2022
264		1	_aSingapore _bSpringer International Publishing _c2022
300			_a1 recurso en línea (XVIII, 279 páginas) _b190 ilustraciones, 34 ilustraciones a color
336			_atexto _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
347			_aarchivo de texto _bPDF
490	0		_aIntelligent Systems Control and Automation: Science and Engineering _x2213-8994 _v100
505	0		_aDynamic Formulation using the Decoupled Natural Orthogonal Complement (DeNOC) -- Dynamics of Serial Rigid-Flexible Robots -- Dynamics of Six-Link Spatial Robot Arms -- Dynamics of Closed-loop Systems -- Dynamics of Spatial Four-bar Mechanism -- Numerical Stability and Efficiency -- Experimental Study of Flexible System.
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.
988			_aSpringer_Robotics_2022
650		7	_2embne _9140106 _aRobots
650		7	_2embne _9667894 _aSistemas multiagente
776	0	8	_iPrinted edition: _z9789811627972
776	0	8	_iPrinted edition: _z9789811627996
776	0	8	_iPrinted edition: _z9789811628009
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi-org.ezproxy.universidadeuropea.es/10.1007/978-981-16-2798-9 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
998			_b01/2023 _dz _eIG _zSI