Spatial Kinematics

  • Roy Featherstone
Part of the The Springer International Series in Engineering and Computer Science book series (SECS, volume 22)


A spatial vector is a 6-dimensional vector which can be used to represent the combined linear and angular components of the physical quantities involved in rigid-body dynamics. The usefulness of spatial vectors and related quantities lies in their power to simplify the description and analysis of rigid-body systems: a single spatial vector can hold the information which would otherwise need at least two 3-dimensional vectors, and a single spatial equation can replace two or more 3-dimensional vector equations. The result is that rigid body systems can be described by fewer equations, relating fewer quantities, and the equations are usually shorter than their 3-dimensional counterparts.


Rigid Body Joint Velocity Screw Axis Joint Axis Spatial Velocity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer Science+Business Media New York 1987

Authors and Affiliations

  • Roy Featherstone
    • 1
  1. 1.Edinburgh UniversityUK

Personalised recommendations