| Description |
1 online resource |
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text txt rdacontent |
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computer c rdamedia |
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online resource cr rdacarrier |
| Bibliography |
Includes bibliographical references. |
| Note |
Online resource; title from PDF title page (EBSCO, viewed December, 05, 2017). |
| Summary |
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. |
| Subject |
Lie groups.
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Kinematics.
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Group theory.
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Multibody systems.
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Groupes de Lie.
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Cinématique.
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Théorie des groupes.
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Systèmes multicorps.
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kinematics.
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MATHEMATICS -- Algebra -- Intermediate.
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Group theory
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Kinematics
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Lie groups
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Multibody systems
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| Added Author |
Lerbet, Jean, author.
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| Other Form: |
Print version: Chevallier, Dominique P. Multi-body kinematics and dynamics with lie groups. London, England ; Oxford, England : ISTE Press ; Elsevier, ©2018 xviii, 317 pages 9781785482311 |
| ISBN |
9780081023570 (electronic bk.) |
|
008102357X (electronic bk.) |
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9781785482311 |
| Standard No. |
AU@ 000061502854 |
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AU@ 000065067168 |
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