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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.

Chapter 2 Kinematics 2.1 Introduction Kinematics is the description of the motion of points, bodies, and systems of bodies. It does only describe how things are moving, but not why.

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