2 Rigid - Body Kinematics
نویسنده
چکیده
Gregory S. Chirikjian Johns Hopkins University 2.1 Rotations in Three Dimensions Rules for Composing Rotations • Euler Angles • The Matrix Exponential 2.2 Full Rigid-Body Motion Composition of Motions • Screw Motions 2.3 Homogeneous Transforms and the Denavit-Hartenberg Parameters Homogeneous Transformation Matrices • The Denavit-Hartenberg Parameters in Robotics 2.4 Infinitesimal Motions and Associated Jacobian Matrices Angular Velocity and Jacobians Associated with Parametrized Rotations • The Jacobians for Z X Z Euler Angles • Infinitesimal Rigid-Body Motions
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