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Erschienen in:
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2014 | OriginalPaper | Buchkapitel

3. Rigid Body Kinematics

verfasst von : Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen

Erschienen in: Vehicle-Manipulator Systems

Verlag: Springer London

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Abstract

Rigid body kinematics is the study of the displacement, velocity, and acceleration of a rigid body with respect to a reference. We introduce the notion of reference frames and associate each reference frame with a rigid body. We thus achieve a mathematical framework for describing how rigid bodies move with respect to each other and with respect to the inertial reference frame.
Single rigid body motion serves as the basis for multibody motion. In addition to describe the configuration and motion space of vehicles and mobile robots, single rigid body kinematics is also the basis of robotics, i.e., multibody motion with additional kinematic constraints imposed on the motion space. Based on the concepts introduced in Chap. 1, the location, velocity, and acceleration of single rigid bodies are described in terms of well-defined mathematical entities. This chapter thus serves as an introduction to rigid body modeling as a part of an introductory robotics course.

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Vorheriges Kapitel Preliminary Mathematical Concepts
Nächstes Kapitel Kinematics of Manipulators on a Fixed Base
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Metadaten
Titel
Rigid Body Kinematics
verfasst von
Pål Johan From
Jan Tommy Gravdahl
Kristin Ytterstad Pettersen
Copyright-Jahr
2014
Verlag
Springer London
Buch
Vehicle-Manipulator Systems

Print ISBN: 978-1-4471-5462-4

Electronic ISBN: 978-1-4471-5463-1

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-1-4471-5463-1_3

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