Unformatted text preview: , compute the equivalent unit twist ξ and
ˆ
scalar θ ∈ R, that is, the ξ and θ such that gab = eξθ .
(c) For the resulting twist ξθ, compute its screw parameters in frame Ψa , that is, the line parameters
(ω , r), magnitude M , and pitch h such that
r × ω + hω
ξθ = M
(3)
ω
Give a geometric interpretation/description of this screw and the screw motion that takes Ψa to Ψb . 1 2 rad/s 0.2π cm a z 0.2 rad/s b 180 mph
b Ψ0
b a y x Ψ0
10 cm y (a) Rotation around the elbow. y z 170 mph z
Ψ
x0 a x (b) Nascar racing. (c...
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This note was uploaded on 10/09/2013 for the course EE 125 taught by Professor Ruzenabajcsy during the Fall '13 term at Berkeley.
 Fall '13
 RuzenaBajcsy

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