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Theory of Applied Robotics pp 81–126Cite as

Orientation Kinematics

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Abstract

Two parameters are necessary to define the direction of a line through O and one is necessary to define the amount of rotation of a rigid body about this line. Let the body frame B(Oxyz) rotate ϕ about a line indicated by a unit vector û with direction cosines u 1, u 2, u 3

$$ \hat u = u_1 \hat I + u_2 \hat J + u_3 \hat K $$
(3.1)
$$ \sqrt {u_1^2 + u_2^2 + u_3^2 } = 1. $$
(3.2)

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Authors and Affiliations

  1. Department of Mechanical Engineering, Manhattan College, Riverdale, NY, 10471

    Reza N. Jazar

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  1. Reza N. Jazar
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© 2007 Springer Science+Business Media, LLC

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Jazar, R.N. (2007). Orientation Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-68964-7_3

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  • DOI: https://doi.org/10.1007/978-0-387-68964-7_3

  • Publisher Name: Springer, Boston, MA

  • Print ISBN: 978-0-387-32475-3

  • Online ISBN: 978-0-387-68964-7

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