Rigid Motion

  • Ernesto Olguín DíazEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 191)


The rigid motion refers to the motion of rigid bodies. This means the use of Galileo transformations to describe the displacement of a body with respect to a given reference frame, and a rotations from which both linear and angular velocities can be derived. These expressions are needed in the Newtonian formulation since the dynamic expression needs the inertial expression (with respect to an inertial frame) of the first and the second time derivatives of the position for every single particle in a body.

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© Springer Nature Switzerland AG 2019

Authors and Affiliations

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

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