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Synopsis
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 group
- Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy
- Includes theoretical results that have appeared in scientific articles
"synopsis" may belong to another edition of this title.
About the Author
Dominique P. Chevallier is Emeritus Research Director at Navier Laboratory, Ecole Nationale des Ponts et Chaussées in France. His research interests are the mathematical methods of mechanics.
Jean Lerbet is Professor at the Universities of Evry and Paris Saclay in France. His research interests include differential geometry and mechanics, and stability.
"About this title" may belong to another edition of this title.
- PublisherISTE Press - Elsevier
- Publication date2017
- ISBN 10 1785482319
- ISBN 13 9781785482311
- BindingHardcover
- LanguageEnglish
- Edition number1
- Number of pages334
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Multi-Body Kinematics and Dynamics with Lie Groups
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Elsevier Science Nov 2017, 2017
ISBN 10: 1785482319
ISBN 13: 9781785482311
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Buch. Condition: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 334 pp. Englisch. Seller Inventory # 9781785482311
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Buch. Condition: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - 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. Seller Inventory # 9781785482311
Quantity: 2 available