Skip to main content Accessibility help
×
  1. Home
  2. Books
  3. Advanced Analytical Dynamics
  • Cited by 13
      • Show more authors
      • You may already have access via personal or institutional login
    • Select format
    • Publisher:
      Cambridge University Press
      Publication date:
      February 2017
      February 2017
      ISBN:
      9781316832301
      9781107179608
      DOI:
      https://doi.org/10.1017/9781316832301
      Dimensions:
      (234 x 177 mm)
      Weight & Pages:
      0.77kg, 302 Pages
      Dimensions:
      Weight & Pages:
      • Subjects:
      Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics
    You may already have access via personal or institutional login
    • Selected: Digital
    Add to cart View cart Buy from Cambridge.org
    Subjects:
    Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics
    Information

    Book description

    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.

    Refine List

    Actions for selected content:

    Select all | Deselect all
    • View selected items
    • Export citations
    • Download PDF (zip)
    • Save to Kindle
    • Save to Dropbox
    • Save to Google Drive

    Save Search

    You can save your searches here and later view and run them again in "My saved searches".

    Please provide a title, maximum of 40 characters.
    Cancel
    ×

    Contents

    Contents
    • 5 - Zeroth-Order Variational Principles
      pp 101-150
        • You have access
      • PDF
      • Export citation
    References
    References
    Appell, P. (1900), Sur une forme générale des équations de la dynamique, Journal für die Reine und Angewandte Mathematik 121, 310–319.
    Baumgarte, J. (1972), Stabilization of constraints and integrals of motion in dynamical systems, Computer Methods in Applied Mechanics and Engineering 1(1), 1–16.
    Belytschko, T., Liu, W. K., Moran, B. and Elkhodary, K. (2013), Nonlinear Finite Elements for Continua and Structures, John Wiley.
    Blajer, W. (1997), A geometric unification of constrained system dynamics, Multibody System Dynamics 1(1), 3–21.
    Clavel, R. (1991), Conception d' un robot parallèle rapide à 4 degrés de liberté, École Polytechnique Fédérale de Lausanne (EPFL).
    de Groot, J. H. and Brand, R. (2001), A three-dimensional regression model of the shoulder rhythm, IEEE Transactions on Biomedical Engineering 16, 735–743.
    De Sapio, V., Holzbaur, K. and Khatib, O. (2006), The control of kinematically constrained shoulder complexes: Physiological and humanoid examples, in Proceedings of the 2006 IEEE International Conference on Robotics and Automatio, Vol. 1–10, IEEE, pp. 2952–2959.
    De Sapio, V. and Khatib, O. (2005), Operational space control of multibody systems with explicit holonomic constraints, in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Vol. 1–4, IEEE, pp. 2961–2967.
    De Sapio, V., Khatib, O. and Delp, S. (2005), Simulating the task-level control of human motion: A methodology and framework for implementation, The Visual Computer 21(5), 289–302.
    De Sapio, V., Khatib, O. and Delp, S. (2006), Task-level approaches for the control of constrained multibody systems, Multibody System Dynamics 16(1), 73–102.
    Delp, S. L., Anderson, F. C., Arnold, A. S., Loan, P., Habib, A., John, C. T., Guendelman, E. and Thelen, D. G. (2007), Opensim: Open-source software to create and analyze dynamic simulations of movement, IEEE Transactions Biomedical Engineering 54(11), 1940–1950.
    Delp, S. L. and Loan, J. P. (2000), A computational framework for simulating and analyzing human and animal movement, IEEE Computing in Science and Engineering 2(5), 46–55.
    Delp, S. L., Loan, J. P., Zajac, F. E., Topp, E. L. and Rosen, J. M. (1990), An interactive graphicsbased model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering 37, 757–767.
    Denavit, J. and Hartenberg, R. (1955), A kinematic notation for lower-pair mechanisms based on matrices, Journal of Applied Mechanics 23, 215–221.
    Dirac, P. A. M. (1958), Generalized hamiltonian dynamics, Proceedings of the Royal Society of London, Series A 246, 326–332.
    Do Carmo, M. P. (1976), Differential Geometry of Curves and Surfaces, Prentice Hall.
    Dugas, R. (1988), A History of Mechanics, Dover.
    Flannery, M. R. (2005), The enigma of nonholonomic constraints, American Journal of Physics 73(3), 265–272.
    Gauss, K. F. (1829), Über ein neues allgemeines grundgesetz der mechanik [On a new fundamental law of mechanics], Journal für die Reine und Angewandte Mathematik 4, 232–235.
    Gibbs, J.W. (1879), On the fundamental formulae of dynamics, American Journal of Mathematics 2(1), 49–64.
    Goldstein, H., Poole, C. and Safko, J. (2002), Classical Mechanics, Addison Wesley.
    Hertz, H. (1894), Die prinzipien der mechanik in neuem zusammenhange dargestellt, Barth.
    Holzbaur, K. R. S., Murray, W. M. and Delp, S. L. (2005), A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control, Annals of Biomedical Engineering 33(6), 829–840.
    Hughes, T. (2000), The Finite Element Method: Linear Static and Dynamic Finite Element Analysis, Dover.
    Huston, R. L., Liu, C. Q. and Li, F. (2003), Equivalent control of constrained multibody systems, Multibody System Dynamics 10(3), 313–321.
    Jourdain, P. E. B. (1909), Note on an analogue of Gauss' principle of least constraint, Quarterly Journal of Pure and Applied Mathematics 40, 153–157.
    Jungnickel, U. (1994), Differential-algebraic equations in Riemannian spaces and applications to multibody system dynamics, ZAMM 74(9), 409–415.
    Kane, T. R. (1961), Dynamics of nonholonomic systems, Journal of Applied Mechanics 28(4), 574–578.
    Khatib, O. (1987), A unified approach to motion and force control of robot manipulators: The operational space formulation, International Journal of Robotics Research 3(1), 43–53.
    Khatib, O. (1995), Inertial properties in robotic manipulation: An object level framework, International Journal of Robotics Research 14(1), 19–36.
    Klopčar, N. and Lenarčič, J. (2001), Biomechanical considerations on the design of a humanoid shoulder girdle, in Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Vol. 1, IEEE, pp. 255–259.
    Kübler, L., Eberhard, P. and Geisler, J. (2003a), Flexible multibody systems with large deformations and nonlinear structural damping using absolute nodal coordinates, Nonlinear Dynamics 34(1–2), 31–52.
    Kübler, L., Eberhard, P. and Geisler, J. (2003b), Flexible multibody systems with large deformations using absolute nodal coordinates for isoparametric solid brick elements, in Proceedings of the 2003 ASME Design Engineering Technical Conference, ASME, pp. 1–10.
    Lanczos, C. (1986), The Variational Principles of Mechanics, Dover.
    Lenarčič, J., Stanišić, M. M. and Parenti-Castelli, V. (2000), Kinematic design of a humanoid robotic shoulder complex, in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, Vol. 1, IEEE, pp. 27–32.
    Lenarčič, J. and Stanišić, M. M. (2003), A humanoid shoulder complex and the humeral pointing kinematics, IEEE Transactions on Robotics and Automation 19(3), 499–506.
    Naudet, J., Lefeber, D., Daerden, F. and Terze, Z. (2003), Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta, Multibody System Dynamics 10(1), 45–59.
    Papastavridis, J. G. (2002), Analytical Mechanics: A Comprehensive Treatise on the Dynamics of Constrained Systems for Engineers, Physicists, and Mathematicians, Oxford University Press.
    Rodriguez, G., Jain, A. and Kreutz-Delgado, K. (1991), A spatial operator algebra for manipulator modeling and control, International Journal of Robotics Research 10(4), 371–381.
    Russakow, J., Khatib, O. and Rock, S. M. (1995), Extended operational space formulation for serial-to-parallel chain (branching) manipulators, in Proceedings of the 1995 International Conference on Robotics and Automation, Vol. 1, IEEE, pp. 1056–1061.
    Saul, K. R., Hu, X., Goehler, C. M., Vidt, M. E., Daly, M., Velisar, A. and Murray, W. M. (2015), Benchmarking of dynamic simulation predictions in two software platforms using an upper limb musculoskeletal model, Computer Methods in Biomechanics and Biomedical Engineering 18(13), 1445–1458.
    Schutte, L. M. (1992), Using musculsokeletal models to explore strategies for improving performance in electrical stimulation-induced leg cycle ergometry, PhD thesis, Stanford University.
    Shabana, A. (1998), Computer implementation of the absolute nodal coordinate formulation for flexible multibody dynamics, Nonlinear Dynamics 16(3), 293–306.
    Udwadia, F. and Kalaba, R. E. (1992), A new perspective on constrained motion, in Proceedings: Mathematical and Physical Sciences, Vol. 439, Royal Society of London, pp. 407–410.
    Vujanovic, B. D. and Atanackovic, T. M. (2004), An Introduction to Modern Variational Techniques in Mechanics and Engineering, Springer Science & Business Media.
    Wehage, E. J. and Haug, E. J. (1982), Generalized coordinate partitioning for dimension reduction in analysis of constrained dynamic systems, Journal of Mechanical Design 104(1), 247–255.
    Zajac, F. E. (1989), Critical reviews in biomedical engineering, in J. R., Bourne, ed., Muscle and Tendon: Properties, Models, Scaling, and Application to Biomechanics and Motor Control, CRC Press, pp. 359–411.
    Zajac, F. E. (1993), Muscle coordination of movement: A perspective, Journal of Biomechanics 26, 109–124.

    Metrics

    Altmetric attention score

    Full text views

    Total number of HTML views: 0
    Total number of PDF views: 0 *
    Loading metrics...

    Book summary page views

    Total views: 0 *
    Loading metrics...

    * Views captured on Cambridge Core between #date#. This data will be updated every 24 hours.

    Usage data cannot currently be displayed.

    Accessibility standard: Unknown

    Why this information is here

    This section outlines the accessibility features of this content - including support for screen readers, full keyboard navigation and high-contrast display options. This may not be relevant for you.

    Accessibility Information

    Accessibility compliance for the PDF of this book is currently unknown and may be updated in the future.