Robot Dynamics Lecture Notes - ETH Z
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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