A beginner's guide to 6-D vectors (part 2): From equations to software

Roy Featherstone

doi:10.1109/MRA.2010.939560

A beginner's guide to 6-D vectors (part 2): From equations to software

Roy Featherstone^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

35 Citations (Scopus)

Abstract

Spatial vectors are six-dimensional (6-D) vectors that describe the motions of rigid bodies and the forces acting upon them. In Part 1, we saw how spatial vectors can simplify the process of expressing and analyzing the dynamics of a simple rigid-body system. In this tutorial, we shall examine the application of spatial vectors to various problems in robot kinematics and dynamics. To demonstrate that spatial vectors are both a tool for analysis and a tool for computation, we shall consider both the mathematical solution of a problem and the computer code to calculate the answer.

Original language	English
Article number	5663690
Pages (from-to)	88-99
Number of pages	12
Journal	IEEE Robotics and Automation Magazine
Volume	17
Issue number	4
DOIs	https://doi.org/10.1109/MRA.2010.939560
Publication status	Published - Dec 2010

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10.1109/MRA.2010.939560

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A beginner's guide to 6-D vectors (part 2): From equations to software

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