Multi-Body Kinematics and Dynamics with Lie Groups by Chevallier, Lerbet New,#

Multi-Body Kinematics and Dynamics with Lie GroupsAuthor(s): Dominique Paul Chevallier, Jean Lerbet\nFormat: Hardback\nPublisher: ISTE Press Ltd - Elsevier Inc, United Kingdom\nImprint: ISTE Press Ltd - Elsevier Inc\nISBN-13: 9781785482311, 978-1785482311\nSynopsis\nMulti-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 lea.