Coordinate Systems and Efficiency

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


In Chapters 4 to 7 we concentrated on obtaining mathematical formulations for the dynamics algorithms. Implementation details were not considered. The equations which were developed describe in broad terms the computations required to calculate the dynamics on a computer, but the equations by themselves do not constitute complete descriptions of the various algorithms. In particular, three questions have been left unresolved:
  • where to put the link coordinate frames,

  • how to calculate the link-to-link coordinate transformations, and

  • how to implement the operations of spatial arithmetic.


Coordinate Frame Computational Requirement Spherical Joint Dynamic Algorithm Joint Variable 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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