SOME REMARKS ON ROTATION SEQUENCES AND ASSOCIATED ANGULAR VELOCITIES


OZGOREN M.

MECHANISM AND MACHINE THEORY, cilt.29, ss.933-940, 1994 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 29 Konu: 7
  • Basım Tarihi: 1994
  • Doi Numarası: 10.1016/0094-114x(94)90062-0
  • Dergi Adı: MECHANISM AND MACHINE THEORY
  • Sayfa Sayıları: ss.933-940

Özet

General m-step rotation sequences are considered in which the k th rotation (k = 1, 2, ..., m) takes place about an axis whose unit vector is specified with its components in an arbitrary reference frame. A theorem is introduced in order to limit the arbitrariness of these frames so that the overall transformation matrix between the initial and final frames is minimal, i.e. expressible as an m-factor product of only m exponential rotation matrices. Afterwards, expressions are given for the angular velocities associated with such general rotation sequences.