Advanced Analytical Dynamics: Theory and Applications

by Vincent De Sapio

Overview

Providing a unique bridge between the foundations of analytical mechanics and application to multi-body dynamical systems, this textbook is particularly well suited for graduate students seeking an understanding of the theoretical underpinnings of analytical mechanics, as well as modern task space approaches for representing the resulting dynamics that can be exploited for real-world problems in areas such as biomechanics and robotics. Established principles in mechanics are presented in a thorough and modern way. The chapters build up from general mathematical foundations, an extensive treatment of kinematics, and then to a rigorous treatment of conservation and variational principles in mechanics. Parallels are drawn between the different approaches, providing the reader with insights that unify his or her understanding of analytical dynamics. Additionally, a unique treatment is presented on task space dynamical formulations that map traditional configuration space representations into more intuitive geometric spaces.

Product Details

ISBN-13:	9781107179608
Publisher:	Cambridge University Press
Publication date:	02/27/2017
Pages:	302
Product dimensions:	7.20(w) x 10.24(h) x 0.71(d)

About the Author

Vincent De Sapio is a research scientist at HRL Laboratories, California. He has more than 40 publications and 16 patents (issued or pending) in the areas of multibody dynamics, control theory, robotics, biomechanics, and motion synthesis and simulation. Dr De Sapio is a senior member of Institute of Electrical and Electronics Engineers (IEEE) and a member of American Society of Mechanical Engineers and Sigma Xi. He is a founding member of the IEEE Technical Committee on Human Movement Understanding. He received his PhD and MS from Stanford University, California and his BS from Rensselaer Polytechnic Institute, New York, all in mechanical engineering.

Table of Contents

1. Introduction; 2. Mathematical preliminaries; 3. Kinematics of discrete systems; 4. Conservation principles; 5. Zeroth order variational principles; 6. First order variational principles; 7. Second order variational principles; 8. Dynamics in task space; 9. Applications to biomechanical systems; 10. Software for analytical dynamics.