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Robot Dynamics Lecture Notes - ETH Z

Robot Dynamics Lecture NotesRobotic Systems Lab, ETH ZurichHS 2017 Contents1 ..32 .. of Positions ..6 Cartesian coordinates ..6 Cylindrical coordinates ..7 Spherical coordinates .. Velocity .. of Linear Velocities ..7 Cartesian Coordinates ..8 Cylindrical Coordinates ..8 Spherical Coordinates .. Matrices .. vs. Passive Rotation ..11 Passive Rotation ..11 Active Rotation .. Rotations .. of Rotations .. of Rotations ..13 Euler Angles ..13 Angle Axis ..18 Unit Quaternions .. Velocity .. Derivatives of Rotation Parameterizations ..22 Time Derivatives of Euler Angles ZYX Angular Velocity .23 Time Derivatives of Euler Angles XYZ Angular Velocity .24 Time Derivatives of Euler Angles ZYZ Angular Velocity .24 Time Derivatives of Euler Angles ZXZ Angular Velocity .24 Time Derivative of Rotation Quaternion Angular Velocity.

these forces can come from different sources. A robot arm moving in free space is driven by the actuator forces acting on the joints, while a legged robot additionally encounters interaction forces at its feet and flying vehicles are kept in the air due to aerodynamic forces.

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Robot Dynamics Lecture Notes - ETH Z

ethz.ch

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