Gregory S. Chirikjian Johns Hopkins University 2.1 Rotations in Three Dimensions Rules for Composing Rotations • Euler Angles • The Matrix Exponential 2.2 Full Rigid-Body Motion Composition of Motions • Screw Motions 2.3 Homogeneous Transforms and the Denavit-Hartenberg Parameters Homogeneous Transformation Matrices • The Denavit-Hartenberg Parameters in Robotics 2.4 Infinitesimal Motions and A...

This note outlines how the coupling between the motion of rigid bodies immersed in a fluid and the motion of this fluid is handled in XNS. For a rigid body one has a group of nodes which define the surface of the rigid body called “reference node group” (RNG). For each RNG we save the properties of motion in arrays which in the following we will call “RNG arrays”. They contain the bottom and to...

Rigid Body Simulation deals with trying to model real world physical situations computationally by applying Newton’s laws of motion to perfectly rigid bodies. Work done in this area is used in the animation industry, haptic displays in robotics, and 3D games, so there is a real need for algorithms that work in realtime. The two main areas of research in rigid body simulation are collision detec...

a 25 year-old construction worker underwent neck laceration following penetrating neck trauma in a falling incident. the 3rd tracheal ring was injured which was initially repaired and the patient was discharged in good general condition. (figure 1 shows the patient’s neck view after discharge from hospital).two months later the patient was again admitted due to provocative coughing and a metal ...

The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational efficiency and simplicity, yet despite their prevalence, little if any empirical comparison of these models has been made and it is unclear how well they approxim...

One of the major challenges in aeronautical flexible structures control is the uncertain or the non stationary feature of the systems. Transport aircrafts are of unceasingly growing size but are made from increasingly light materials so that their motion dynamics present some flexible low frequency modes coupled to rigid modes. For reasons that range from fuel transfer to random flying conditio...

The difficulty of describing the positions of the body-fixed axis of a rotating body is approached through the use of Euler angles: spin ψ̇, nutation θ and precession φ shown below in Figure 1. In this case we surmount the difficulty of keeping track of the principal axes fixed to the body by making their orientation the unknowns in our equations of motion; then the angular velocities and angula...

Rigid body registration is one of the simplest forms of image registration, so this chapter provides an ideal framework for introducing some of the concepts that will be used by the more complex registration methods described later. The shape of a human brain changes very little with head movement, so rigid body transformations can be used to model different head positions of the same subject. ...

Due to the special aerodynamic layout and mass distribution, natural frequency differences between hybrid wing body (HWB)’s rigid-body motion modes fuselage structure elastic are smaller compared conventional aircraft, resulting in disappearance of decoupling relationship HWB’s airframe structure. For above reason, traditional analysis approach based on assumption is no longer applicable when a...