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NEWS
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Jain Publishes Robot Dynamics Book

12/10/2010

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The book cover.
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JPL Senior Research Scientist Abhinandan Jain has published a book entitled, Robot and Multibody Dynamics -- Analysis and Algorithms. The book provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms; describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems; and covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators.

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