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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.

representations. This will be different for rotations as shown in section 2.4.5. In most of the cases, people work with Cartesian coordinates due to the simple properties for vector calculus. 2.3 Linear Velocity The velocity of point Brelative to point Ais given by r_AB: (2.9) For three dimensional space, velocities are represented by vectors r ...

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Robot Dynamics Lecture Notes - ETH Z

ethz.ch

robots, such as robot arms, legged and wheeled machines, or flying systems, that can be modeled using the same techniques. In fact, most robots can be described (accurately enough) by a single body or a set of bodies on which different forces act. However, these forces can come from different sources. A robot arm moving in free space is

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ethz.ch

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