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: 168.91 EUR
Availability: InStock

Автор: Dominique P. Chevallier, Jean Lerbet

Език:

Корици: С твърди корици

Издател: ISTE Press Ltd - Elsevier Inc

Наличност: Налично при издателя, по поръчка

Изпращаме след 17-27 дни

168.91 € 330.35 лв

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

Информация за книгата

Автор

Dominique P. Chevallier, Jean Lerbet

Език

Английски език

Корици

Книга - С твърди корици

Издадена

2017

страници

334

EAN

9781785482311

ISBN

1785482319

Enbook ID

16036745

Издател

ISTE Press Ltd - Elsevier Inc

Теглоt

678

Размери

159 x 237 x 24

Пълно описание

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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Multi-Body Kinematics and Dynamics with Lie Groups

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