一般会定义相对静止的固定的坐标系{s}, 即空间坐标系。也至少选取一个附着在运动刚体上的坐标系{b},即物体坐标系。 {b}与{s}的坐标系转换可以通过位移p和 旋转R表示。其实机器人中一般用矩阵R表示旋转。 2 旋转矩阵 考虑三维空间,物体坐标系{b}的位移p与旋转R表达如下: p=[p1p2p3],R=[x^by^bz^b]=...
Many physical objects are considered as rigid bodies for the convenience of theoretical analysis. For rigid body motions, the representations of rigid body rotation have a wide range of approaches including the representations from the directional cosine matrix to the exponential coordinates. The ...
刚体在运动的,换句话说就是刚体运动到哪里,坐标就会运动到哪里;我们可以通过判定坐标的原点位置,就能知道刚体的运动状态(刚体和建立的自身坐标系是一直重合的) 对于转动的部分,由建立的自身坐标系的三个轴方向...状态:用三个自由度来描述刚体前后,上下,左右的移动,三个自由度来描述围绕坐标轴三个方向的转动。 对于...
3.1 Introduction to Rigid-Body Motions 1)三维直角坐标系,用右手准则: 2)右手准则:右手手指卷曲的方向决定正向旋转的方向 3)frame of refercence 是参考坐标系,一个新的metrics的三个向量分别通过和参考坐标系作对比得出,并且都是竖向量,然后组合在一起。可以用Rsb表示,s-frame of reference,b-被表示向量或者me...
THE rigid-body motions proposed by Born 1 and Herglotz 2 have, in general, only three degrees of freedom, so that the world line of one point determines the complete motion. My purpose here is to define a group of rigid-body motions with six degrees of freedom as in Newtonian mechanics....
回想一下第一节,刚性运动是保持点之间的距离和向量之间的角度的运动。我们通过使用刚体变换来描述刚体坐标系相对于惯性坐标系的瞬时位置和方向,从而表示刚性运动。这种表示依赖于这样一个事实,即刚体变换将右手系的正交坐标系映射到右手系的正交坐标系,从而保持距离和角度。在本书中,我们将坐标系之间的所有变换称为刚体...
Mechanism is made up of links and kinematic pair joints which move in the three-dimensional space. Many physical objects are considered as rigid bodies for the convenience of theoretical analysis. For rigid body motions, the representations of rigid body
Submitted to IEEE Transactions on Robotics and Automation c 1995 IEEE On the generation of smooth three-dimensional rigid body motions yGeneral Robotics and Active Sensory Perception (GRASP) Laboratory zDepartment of Mathematics Milos Zefrany, Vijay Kumary and Christopher Crokez University of ...
Rigid-body motions of sub-units in DNA: a correlation analysis of a 200 ps molecular dynamics simulation. J Biomol Struct Dyn. 1995 Apr; 12 (5):1063–1082.Briki, F., and D. Genest. 1995. Rigid body motions of sub-units in DNA: a correlation analysis of a 200 ps molecular dynamics...
stationary problems is solvable only if the structure is sufficiently constrained. There must not be any possible rigid body modes; thus no stress-free deformation states are allowed. In a dynamic analysis, rigid body motions are admissible. The inertial forces will then balance the external forces...