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一个刚体 (Rigid Body)的运动状态如何描述？ 利用各个DOF的 微分，将 位移displacement 和 姿态orientation转换 到 速度 （velocity）和 加速度 （acceleration）等 运动状态。

2020年6月23日 · 建立一个世界坐标（world frame），然后在刚体质心位置建立一个坐标（body frame），原点和质心重合，只要追踪到body frame原点的移动状态，就能得到刚体（质心） …

记为 \hat \omega^b ， b 表示body frame \hat \omega 是一种特殊记法，由于角速度中仅有3个独立的量，而 R^T\dot R 表示一个矩阵，为了简便记录，用 \hat \omega 代替

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2021年4月27日 · Modern Robotics一书中使用的Body Frame定义为"This body frame, denoted {b}, is the stationary fr…

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The roles of the trigonometric functions, as written, are specific to Euler angles, and to the order in which we performed the rotations. In the case that the movable (body) reference frame has a …