Notes to Accompany the Slides

Preamble The course is aimed at people who already know how to do elementary rigid-body dynamics using 3D vectors. It follows the treatment of spatial vectors appearing in the book Rigid Body Dynamics Algorithms, which should be consulted for more details. Another source that may be useful is the Springer Handbook of Robotics, Chapter 2. Other materials relating to this course can be found on Dr. Featherstone’s web site, including software to implement spatial vector arithmetic. At the time of writing, the URL is “http://users.rsise.anu.edu.au/~roy/”. If that doesn’t work, try Google.