A spatial vector is a 6-dimensional vector which can be used to represent the combined linear and angular components of the physical quantities involved in rigid-body dynamics. The usefulness of spatial vectors and related quantities lies in their power to simplify the description and analysis of rigid-body systems: a single spatial vector can hold the information which would otherwise need at least two 3-dimensional vectors, and a single spatial equation can replace two or more 3-dimensional vector equations. The result is that rigid body systems can be described by fewer equations, relating fewer quantities, and the equations are usually shorter than their 3-dimensional counterparts.
KeywordsRigid Body Joint Velocity Screw Axis Joint Axis Spatial Velocity
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