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Rcd pcd Rcd
Ë†
Rcd pcd
Adgcd =
with gcd =
0
Rcd
0
1
c
d
The coordinate transformation is then given as Vab = Adgcd Vab . Use this operator to transform the
0
relative twist of bodies 2 and 3 from coordinate frame Î¨3 to coordinate frame Î¨0 , i.e.compute V23
3
from V23 . (e) Prove that if gac = gab gbc for general diï¬€erentiable rigidbody transformations gab , gbc and gac , then
d
d
d
Vac = Vab + Vbc for any choice of coordinate frame Î¨d .
0
(f ) Derive an expression for V02 , the absolute twist of link 2.
0
(g) Derive an expression for V03 , the absolute...
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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 University of California, Berkeley.
 Fall '13
 RuzenaBajcsy

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