The rigid body: configuration and motion
This chapter starts with a summary of the elements of geometry and mechanics relating to a rigid body. In later chapters, the combinations of such bodies when they act as constituent parts in a robotic system at rest and in motion are considered. Great importance must be attached to the available methods of modelling1 the configuration of an object and the representation of the differences between the actual, or commanded, configuration and the desired configuration. The performance of a robot intended to carry out a particular operation in its work location depends on these differences. These differences are called errors.
KeywordsRigid Body Rotation Matrix Euler Angle Positional Error Error Compensation
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