kinematics_overview

Kinematics §

a branch of dynamics that deals with aspects of motion apart from considerations of mass and force

• Properties of a rotation matrix
  • belongs to Special Orthogonal group
    • orthonormal basis in
    • 互相正交：, ,
    • 单位向量：, ,
    • , ,
• Properties of a homogeneous transformation matrix
  • belongs to Special Euclidean group
    • The determinant is always
    • The product of two h.t. matrices is an h.t. matrix:
    • Multiplying an h.t. matrix by its inverse yields an identity:

旋转矩阵Rotation matrix §

• ，每一列代表了各自坐标轴的旋转

正向运动学模型 §

Transformation matrices §

DH参数 §

旋量法 §