{"product_id":"9780081023570","title":"Multi-Body Kinematics and Dynamics with Lie Groups","description":"\u003cp\u003e\u003ci\u003eMulti-body Kinematics and Dynamics with Lie Groups\u003c\/i\u003e explores the use of Lie groups in the kinematics and dynamics of rigid body systems.\u003c\/p\u003e \u003cp\u003eThe 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.\u003c\/p\u003e \u003cp\u003eDynamics 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.\u003c\/p\u003e \u003cp\u003eThis book is accessible to all interested readers as no previous knowledge of the general theory is required. \u003c\/p\u003e\u003cul\u003e\n\u003cli\u003ePresents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group\u003c\/li\u003e\n\u003cli\u003eMakes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy\u003c\/li\u003e\n\u003cli\u003eIncludes theoretical results that have appeared in scientific articles\u003c\/li\u003e\n\u003c\/ul\u003e","brand":"Elsevier Science","offers":[{"title":"Default Title","offer_id":47148453888240,"sku":"9780081023570","price":190.0,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0737\/7593\/9824\/files\/9780081023570_p0.jpg?v=1763638467","url":"https:\/\/shop-qa.barnesandnoble.com\/products\/9780081023570","provider":"Barnes \u0026 Noble (DEV)","version":"1.0","type":"link"}