In the name of of Allah the Merciful

دانلود کتاب مدل سازی دینامیکی چند بدنه ربات های چند پا

Multi-body Dynamic Modeling of Multi-legged Robots | Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar | ISBN: 981152954X, 9811529523, 978-9811529542, 978-9811529528, B085DP8SFL

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سال انتشار: 2020

تعداد صفحات: 230

زبان فایل: انگلیسی

فرمت فایل: pdf

حجم فایل: 10MB

ناشر: Springer

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments.

The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.