Robot and Multibody Dynamics: Analysis and Algorithms

Part I Basics: Serial Chain Dynamics.- Spatial vectors.- Single rigid body dynamics.- Differential kinematics for a serial-chain system.- The mass matrix.- Equations of motion for a serial chain system.- Articulated body models for serial chains.- Operator factorization and inversion of the mass matrix.- Forward dynamics.- Part II General Multibody Systems.- Tree topology systems.- The operational space inertia.- Closed chain system dynamics.- Multi-arm manipulators.- Systems with hinge flexibility.- Systems with link flexibility.- Part III Advanced Topics and Applications.- Under-actuated systems.- Free-flying space manipulators.- Mass matrix sensitives.- Linearized dynamics models.- Sensitivity of innovations factors.- Diagnolized lagrangian dynamics.- Overview of optimal linear estimation theory.