Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics
through the medium of spatial 6D vector notation. It explains how to model a rigid-body …

This chapter is devoted to the kinetostatics of robotic manipulators of the serial type, ie, to the
kinematics and statics of these systems. The study is general, but with regard to what is …

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and
detailed exposition of a new mathematical approach, referred to as the Spatial Operator …

Constrained dynamic equations of motion of serial multibody systems consisting of rigid
bodies in a serial kinematic chain are derived in this paper. First, the Newton-Euler …

A kinematic formulation for the parallel structured closed-loop multibody mechanical
systems, such as Stewart Platform and Hexapod machine tools, is presented in this paper …

Autonomous on-orbit servicing, such as capture, refuel, repair and refurbishment of on-orbit
satellites using a robotic arm mounted on servicing satellite is one of the important …

This article presents a method for determination of dynamic reaction forces in knuckle boom
cranes. The method is based on the dynamic modelling procedure, which is an extension of …

A method for solving the complete dynamic problem in robots with rigid links and ideal joints
using the Gibbs–Appell equations as starting point is presented. The inverse dynamic …

Abstract As reviewed in Chap. 2, Newton-Euler (NE) equations of motion are found to be
popular in dynamic formulations. Several methods were also proposed by various …

This paper describes new factorization algorithms that exploit branch-induced sparsity in the
joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulae that show …