Robot and Multibody Dynamics

1. Spatial Vectors
Abhinandan Jain

2. Single Rigid Body Dynamics
Abhinandan Jain

3. Serial-Chain Kinematics
Abhinandan Jain

4. The Mass Matrix
Abhinandan Jain

5. Serial-Chain Dynamics
Abhinandan Jain

6. Articulated Body Model for Serial Chains
Abhinandan Jain

7. Mass Matrix Inversion and AB Forward Dynamics
Abhinandan Jain

8. Graph Theory Connections
Abhinandan Jain

9. SKO Models
Abhinandan Jain

10. Operational Space Dynamics
Abhinandan Jain

11. Closed-Chain Dynamics
Abhinandan Jain

12. Systems with Geared Links
Abhinandan Jain

13. Systems with Link Flexibility
Abhinandan Jain

14. Transforming SKO Models
Abhinandan Jain

15. Constraint Embedding
Abhinandan Jain

16. Under-Actuated Systems
Abhinandan Jain

17. Free-Flying Systems
Abhinandan Jain

18. Spatial Operator Sensitivities for Rigid-Body Systems
Abhinandan Jain

19. Diagonalized Lagrangian Dynamics
Abhinandan Jain

Keywords: Engineering, Theoretical and Applied Mechanics, Vibration, Dynamical Systems, Control, Statistical Physics, Dynamical Systems and Complexity