Special Topics in Rigid-Body Kinematics
The motivation for this chapter is twofold. On the one hand, the determination of the angular velocity and angular acceleration of a rigid body from point-velocity measurements is a fundamental problem in kinematics. On the other hand, the solution of this problem is becoming increasingly relevant in the kinematics of parallel manipulators, to be studied in Chapter 8. Moreover, the estimation of the attitude of a rigid body from knowledge of the Cartesian coordinates of some of its points is sometimes accomplished by time-integration of the velocity data. Likewise, the use of accelerometers in the area of motion control readily leads to estimates of the acceleration of a sample of points of a rigid body, which can be used to estimate the angular acceleration of the body, and hence, to better control its motion.
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