Course notes of Professor Dalin of robotics platform

Robotics

Rigid body expression

Degrees of freedom of the plane ：X Y There is also a rotating
Rigid bodies in space ：3 Move 、3 Turns in total 6 Parameters

Integrated ：body frame
Usually on the center of mass , Where does the rigid body move , The coordinates move wherever

utilize body frame and world frame Coordinates of

Description of the motion state of a rigid body ？
Using differential equations , Convert displacement and attitude to velocity and acceleration .

Describe the location

Describe the direction of motion

Specific instructions for rotation

Three column vectors to describe
So it is 3*3 A matrix of , Upper left corner A Is said to A Benchmarking . This matrix is a rotation matrix ,B be relative to A Relative state of .

Projection to A On