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Robotics, Geometry and Control - Rigid body …

Lectures in robotics robotics , Geometry and Control - Rigid body motion and Geometry Ravi Banavar1. 1. Systems and Control engineering IIT Bombay HYCON-EECI Graduate School - Spring 2008. Lectures in Robotics Rigid body motion and Geometry The material for these slides is largely taken from the text I A Mathematical Introduction to robotic Manipulation - R. Murray, Z. Li and S. Sastry, CRC Press, 1994. Lectures in Robotics Rigid body motion and Geometry Rigid body motion zb qb yb B. za qa pab xb ya A. gab xa Figure: Rigid body motion Lectures in Robotics Rigid body motion and Geometry Rigid body motion Definition Rigid body motion is characterized by two properties I The distance between any two points remains invariant I The orientation of the body is preserved.

Lectures in Robotics Robotics, Geometry and Control - Rigid body motion and geometry Ravi Banavar1 1Systems and Control Engineering IIT Bombay HYCON-EECI Graduate School - Spring 2008

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