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Multi-Body Kinematics and Dynamics with Lie Groups

Name: Multi-Body Kinematics and Dynamics with Lie Groups
Brand: ISTE Press Ltd - Elsevier Inc
SKU: 9781785482311
Price: 758.34 PLN
Availability: InStock

Autor: Dominique P. Chevallier, Jean Lerbet

Język:

Oprawa: Twarda

Wydawca: ISTE Press Ltd - Elsevier Inc

Dostępność: Na zamówienie

Wysyłamy za 28-34 dni

758.34 zł

Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics...

Informacje o książce

Autor

Dominique P. Chevallier, Jean Lerbet

Język

Angielski

Oprawa

Książka - Twarda

Data wydania

2017

strony

334

EAN

9781785482311

ISBN

1785482319

Enbook ID

16036745

Wydawca

ISTE Press Ltd - Elsevier Inc

Waga

678

Wymiary

159 x 237 x 24

Pełny opis

Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean groupMakes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easyIncludes theoretical results that have appeared in scientific articles

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