Lecture 5: Rigid Body Motion In this lecture, you will learn: - More on special matrix groups SO(3), so(3). - Rigid body motion - Euler angles - Principal Axis Theorem
Dan O. Popa, Robotics EE5325, Fall 2008
Geometric Aspects • Screws and Twists • Rigid body motion • Cross product • Roll-Pitch-Yaw parametrization
Dan O. Popa, Robotics EE5325, Fall 2008
Geometric Aspects - ZYX Euler angles
- ZYZ Euler angles
Dan O. Popa, Robotics EE5325, Fall 2008
Singularities
Dan O. Popa, Robotics EE5325, Fall 2008
Textbook Readings • Chapter 2.5 from F. Lewis text • Chapter 2 from J. J. Craig text • Chapter 2.1 and 2.2 from R. Murray text
Dan O. Popa, Robotics EE5325, Fall 2008