Abstract
This chapter establishes notation and several foundational concepts required for the study of multibody kinematics and dynamics. Beginning with the notion of coordinate-free representations, we introduce homogeneous transformations, spatial vectors and their properties. Spatial vectors are used to define spatial velocities, accelerations and forces for coordinate frames and bodies. Rigid body transformation matrices that transform spatial velocities and forces across frames on a rigid body are also introduced. This chapter also studies time derivatives of spatial quantities with respect to different frames.
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© 2011 Springer Science+Business Media, LLC
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Jain, A. (2011). Spatial Vectors. In: Robot and Multibody Dynamics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-7267-5_1
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DOI: https://doi.org/10.1007/978-1-4419-7267-5_1
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Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4419-7266-8
Online ISBN: 978-1-4419-7267-5
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