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The Acceleration Vector of a Rigid Body

Featherstone, Roy


This paper explains the relationship between two existing representations of rigid-body acceleration in a 6-D vector: conventional acceleration, which is the concatenation of two 3-D acceleration vectors, and spatial acceleration, which is the time derivative of a 6-D velocity vector. The two are materially different and obey different composition rules. In particular, spatial accelerations behave like true vectors, and conventional accelerations do not. This paper shows that the conventional...[Show more]

CollectionsANU Research Publications
Date published: 2001
Type: Journal article
Source: International Journal of Robotics Research
DOI: 10.1177/02783640122068137


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