机器人学 dynamics-2.docVIP

3.4 Three Dimensional Dynamics of Rigid Body Systems In comparison to the simple equations governing the motion of a rigid body in 2D, the equations of motion in 3D are more complicated. The complicity comes from the equations governing the angular motions although the form of the equations governing the translational motion has no difference from that in 2D. In 2D: , , In 3D: 3.4.1 Angular Momentum of a Rigid Body Consider that a rigid body undergoes general motion in the inertial reference coordinate . Establish a secondary moving frame The angular momentum of a differential mass element