Download A Journey from Robot to Digital Human: Mathematical by Edward Y. L. Gu PDF

By Edward Y. L. Gu

This ebook presents readers with a great set of diverse and crucial instruments for the theoretical modeling and keep watch over of advanced robot structures, in addition to for electronic human modeling and lifelike movement iteration. Following a complete creation to the basics of robot kinematics, dynamics and keep an eye on structures layout, the writer extends robot modeling strategies and movement algorithms to a far higher-dimensional, better scale and extra refined learn zone, specifically electronic human modeling. lots of the equipment are illustrated by means of MATLAB codes and pattern graphical visualizations, supplying a distinct closed loop among conceptual figuring out and visualization.

Show description

Read Online or Download A Journey from Robot to Digital Human: Mathematical Principles and Applications with MATLAB Programming PDF

Similar networks books

Performance Modelling and Evaluation of ATM Networks

Asynchronous move Mode (ATM) networks are extensively thought of to be the hot new release of excessive pace communique structures either for broadband public details highways and for neighborhood and broad zone deepest networks. ATM is designed to combine current and destiny voice, audio, photo and knowledge companies.

Polymer Alloys: Blends, Blocks, Grafts, and Interpenetrating Networks

Alloy is a time period usually linked to metals and implies a composite that may be sinqle section (solid answer) or heterophase. Whichever the case, metal alloys in most cases exist simply because they show superior homes over the bottom steel. There are numer­ ous kinds of steel alloys, together with interstitial strong suggestions, substitutional sturdy options, and multiphase mixtures of those with intermetallic compounds, valency compounds, electron compounds, and so forth.

Extra info for A Journey from Robot to Digital Human: Mathematical Principles and Applications with MATLAB Programming

Example text

K1 Let a unit vector k = ⎝ k2 ⎠ be referred and projected onto a given k3 frame to be performed for a rotation. Clearly, k 2 = k12 + k22 + k32 = 1. Its corresponding skew-symmetric matrix is given by ⎞ ⎛ 0 −k3 k2 S(k) = K = ⎝ k3 0 −k1 ⎠ . −k2 k1 0 It can be shown without difficulty that for this 3 by 3 unity skew-symmetric matrix, 1. K is skew-symmetric with tr(K) = 0; 2. K 2 is symmetric with tr(K 2 ) = −2; 3. K 3 = −K. 24 2 Mathematical Preliminaries With the above interesting properties owned by the unity skew-symmetric matrix K, we now develop a realistic rotation process, called the k–φ procedure.

0 Then, a ˆ × cˆ = S(ˆ a)ˆ c = S(a)c + (S(b)c + S(a)d) = a × c + (b × c + a × d). Likewise, the product between two dual matrices Aˆ = A + B and Cˆ = C + D for four n by n square matrices A, B, C and D is similar to the dual vector products: AˆCˆ = AC + (BC + AD), and also ˆa = Aa + (Ab + Ba) Aˆ without exception. Furthermore, to determine the inverse of a dual square matrix Aˆ = A+ B, we have to first assume that the real part A must be nonsingular. Then, the inverse of Aˆ can be determined by Aˆ−1 = (A + B)−1 = A−1 − A−1 BA−1 , which may easily be verified by testing Aˆ−1 Aˆ = (A−1 − A−1 BA−1 )(A + B) = I + O = I, where I and O are the n by n real identity and zero matrix, respectively, and so is its commutation AˆAˆ−1 = I.

One of the earliest efforts of computerized human performance models in history, according to Chaffin’s review, was done by K. Kilpatrick in 1970. He made a 3D human graphic model to demonstrate how the model reaches and moves in a seated posture. After the 1970’s, a number of sophisticated digital human models emerged. 2 Digital Human Modeling: History, Achievements and New Challenges 9 Interaction Evaluation) was developed in the United Kingdom at that time and is now one of the leading packages in the world to run digital human simulations.

Download PDF sample

Rated 4.66 of 5 – based on 25 votes