Abstract
In the previous chapter we learned how to describe the pose of objects in 2- or 3-dimensional space. This chapter extends those concepts to poses that change as a function of time. Section 3.1 introduces the derivative of time-varying position, orientation and pose and relates that to concepts from mechanics such as velocity and angular velocity. Discrete-time approximations to the derivatives are covered which are useful for computer implementation of algorithms such as inertial navigation. Section 3.2 is a brief introduction to the dynamics of objects moving under the influence of forces and torques and discusses the important difference between inertial and noninertial reference frames.
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Corke, P. (2017). Time and Motion. In: Robotics, Vision and Control. Springer Tracts in Advanced Robotics, vol 118. Springer, Cham. https://doi.org/10.1007/978-3-319-54413-7_3
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DOI: https://doi.org/10.1007/978-3-319-54413-7_3
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-54412-0
Online ISBN: 978-3-319-54413-7
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