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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.

1.1 Nomenclature The following list holds as reference table for the entire script. While almost every textbook uses a different nomenclature, we try to stick here to the IEEE standards for the style and use index parameter to ensure a complete description r vector (bold small letter) B matrix (bold capital letter) eA x, eA y, eA

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