3D Motion of Rigid Bodies

A Foundation for Robot Dynamics Analysis

  • Ernesto Olguín Díaz

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 191)

Table of contents

  1. Front Matter
    Pages i-xxiii
  2. Fundamentals

    1. Front Matter
      Pages 1-1
    2. Ernesto Olguín Díaz
      Pages 3-100
    3. Ernesto Olguín Díaz
      Pages 101-144
  3. Free Motion of Single Rigid Body

    1. Front Matter
      Pages 145-145
    2. Ernesto Olguín Díaz
      Pages 147-183
    3. Ernesto Olguín Díaz
      Pages 185-230
    4. Ernesto Olguín Díaz
      Pages 231-271
    5. Ernesto Olguín Díaz
      Pages 273-305
    6. Ernesto Olguín Díaz
      Pages 307-328
  4. Constraint Motion of a Single Rigid Body

    1. Front Matter
      Pages 329-329
    2. Ernesto Olguín Díaz
      Pages 331-369
  5. Back Matter
    Pages 371-474

About this book


This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots.

While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton–Euler equations in any of their multiple expression forms.

This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (and differences between) the different formulations.


Rigid Motion Equation of Motion Rigid Bodies Control Robotics

Authors and affiliations

  • Ernesto Olguín Díaz
    • 1
  1. 1.Robotics and Advance Manufacturing GroupCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN)CoahuilaMexico

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