"Robotics, and its need for real-time control, has expanded research in multibody dynamics beyond modeling and systematic formulations, to computational and control issues"
Description :
the SOA also provides themeans to manipulate at a high level of abstraction the equations describingmultibody behavior. The significance of this goes beyond the mathematics and is useful in a practical sense. At any stage of the manipulation of equations, spatially recursive algorithms to implement the operator expressions can be readily obtained by inspection. On this book's develops kinematics models for serial-chain rigid multibody systems. Although serial-chains are perhaps the simplest examples of multibody systems, many of the concepts and techniques developed for these systems apply, with only modest extensions, to general multibody systems.
The emphasis of this book therefore is on deepening the theoretical and mathematical understanding of the operator tools, and on the rich tapestry of inter-relationships among them. A single topic is thus sometimes explored from different angles, and themes and concepts cutting across different contexts are highlighted.
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