Matrix Kinematics of the Rigid Body

  • Stefan StaicuEmail author
Part of the Parallel Robots: Theory and Applications book series (PRTA)


A rigid body is a mass point continuous system in which the mutual distances between the different constitutive particles are constant for any time, position or displacement of the body. The motion of a rigid body with respect to a chosen base is completely known if it is possible to determine the position, velocity and acceleration of every point on the body at a given instant. To identify the location of a body in space, a reference coordinate system is established as a fixed frame. In the following we employ a Cartesian coordinate system to describe the position of the body.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of MechanicsUniversity Politehnica of BucharestBucharestRomania

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