Robot and Multibody Dynamics

Spatial vectors.- Single rigid body dynamics.- Differential kinematics for a serial-chain system.- The mass matrix.- Equations of motion for a serial chain system.- Articulated body models for serial chains.- Operator factorization and inversion of the mass matrix.- Forward dynamics.- Tree topology systems.- The operational space inertia.- Closed chain system dynamics.- Multi-arm manipulators.- Systems with hinge flexibility.- Systems with link flexibility.- Under-actuated systems.- Free-flying space manipulators.- Mass matrix sensitives.- Linearized dynamics models.- Sensitivity of innovations factors.- Diagnolized lagrangian dynamics.- Overview of optimal linear estimation theory.

"The book consists of three parts. ... The text contains a lot of exercises and all solutions are given at the end of the book. The key results are summarized in lemmas, each with assumptions and conclusions. The book closes with references, a list of notations and an index. The intended audience for this book consists of graduate students, Ph.D. students and scientists with an interest in analysis and algorithms in robot and multibody dynamics." (Clementina D. Mladenova, Mathematical Reviews, April, 2015)

"The book deals with the theory of spatial operator algebra which assures a high level of abstraction for the equations that describe the dynamics of the multibody systems. ... The book ends with two appendices and solutions of the exercises proposed in each chapter. The book is very useful to researchers and scientists in the field of the multibody dynamics. ... A perfect reader is one which knows both mathematics and engineering." (Nicolae-Doru Stanescu, International Journal ofAcoustics and Vibration, Vol. 16 (3), 2011)

"This book now offers a comprehensive and coherent description of the SOA methodology and techniques, and of the interplay between the mathematical analysis, the structural properties, and the computational algorithms. ... This book is an important contribution to the literature and deserves a wide acceptance by engineers working in the field of multibody dynamics and space manipulators." (Franz Selig, Zentralblatt MATH, Vol. 1215, 2011)