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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 .24 Time Derivative of Angle Axis Angular Velocity ..25 Time Derivative of Rotation Vector Angular Velocity.

Chapter 1 Introduction The course ”Robot Dynamics” provides an overview on how to model robotic sys-tems and gives a first insight in how to use these models in order to control the sys-

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