The rigid body: configuration and motion

  • Alain Liégeois
Part of the Robot Technology book series (NSRDS, volume 7)


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.


Rigid Body Rotation Matrix Euler Angle Positional Error Error Compensation 
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.


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Copyright information

© Kogan Page Ltd 1985

Authors and Affiliations

  • Alain Liégeois

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