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RIGID-BODY DYNAMICS
Carlos Murgua
Department of Mechanical Engineering Dynamics & Control Group
Outline
2
2. Rotation Matrices.
4. Introduction to Kinematics
/ Department of Mechanical Engineering
Inertial Frame
denotes the position of the center of mass of the quadrotor in A. -The inertial coordinate A system is an earth xed coordinate system with origin at the dened home location.
Body Frame
-The origin of the vehicle frame B is at the center of mass of the quadrotor.
respectively . -Since both, the projections and it follows that are expressed on the Inertial frame,
the above matrix is the so called rotation matrix, which is nonlinear mapping that rotates any vector from the inertial frame to the body frame and vice versa, the yaw angle - The mapping is an orthonormal matrix , i.e.,
Full Rotation
With and shorthand forms for cosine and sine, respectively. -The mapping i.e., is also an orthonormal matrix ,
Inertial Frame
-Newtons second law only applies to inertial systems. -Newtons law applied to the translational motion is Body Frame
Inertial Frame
-Coriolis equation: given a vector that rotates with respect to B, its time derivative w.r.t. A can be computed as follows
Body Frame
where denotes the time derivative of with respect to the inertial-frame and with respect to the body-frame. -Using the above coriolis equation and the rotation matrix , the translational and rotational motion equations can be rewritten as
the above equations are alternative forms of the movement equations. In the literature, they use both of them arbitrarily.
/ department of mechanical engineering
Introduction to Kinematics
10
Inertial Frame
-The position of the center of mass in the inertial-frame is given by then the velocity vector is simply given by Body Frame -Let have components body-frame. It follows that in the
Kinematics vs Dynamics?
Introduction to Kinematics
11
Inertial Frame
-The orientation of the body with respect to the inertial-frame is given by the Euler angles
Body Frame
in the
with
Dragan?
Combining the dynamics and the kinematics yields a 12-dimentinal highly coupled nonlinear system
Combining the dynamics and the kinematics yields a 12-dimentinal highly coupled nonlinear system
QUESTIONS???