Abstract
A rigid body is a theoretical model where any two distinct points on the body (or object) have a fixed time-invariant distance. Otherwise, the object is called a deformable body. In the areas of robotics and digital human modeling research, we often assume that each link of a robotic manipulator or a human body segment (link) is a rigid body, unless it indicates otherwise. A rigid body is relatively easy to be studied in both kinematics and dynamics.
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Gu, E.Y.L. (2013). Representations of Rigid Motion. In: A Journey from Robot to Digital Human. Modeling and Optimization in Science and Technologies, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39047-0_3
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DOI: https://doi.org/10.1007/978-3-642-39047-0_3
Publisher Name: Springer, Berlin, Heidelberg
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