Spatial Dynamics

  • Roy Featherstone
Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 22)


The previous chapter introduced the basic notions of spatial quantities and dealt with the kinematic aspects of spatial algebra. This chapter deals with the dynamic aspects — principally inertia. The spatial momentum of a rigid body is defined, then spatial rigid-body inertia is defined as a mapping between velocity and momentum, and its representation as a 6 × 6 matrix is deduced. The basic operations of transformation, differentiation and combination (i.e., addition) of spatial rigid-body inertias are described, and the equations of motion for a rigid body are given. The concepts of inverse inertias and articulated-body inertias are introduced, and their properties and uses are described. The discussion on inertias is concluded with a brief review of alternative representations of inertia. The ease with which inertias can be manipulated is one of the key features of spatial notation.


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Copyright information

© Springer Science+Business Media New York 1987

Authors and Affiliations

  • Roy Featherstone
    • 1
  1. 1.Edinburgh UniversityUK

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