Title :
A Beginner´s Guide to 6-D Vectors (Part 2) [Tutorial]
Author :
Featherstone, Roy
Author_Institution :
Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia
Abstract :
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.
Keywords :
robot dynamics; robot kinematics; vectors; 6D vectors; robot dynamics; robot kinematics; Tutorials; Vectors;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2010.939560
