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Homework RobiticShow

# Homework RobiticShow

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09/28/2013

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TOKAI UNIVERSITY ROBOTICSHomework: 2012-11-22 1 By: LAY MENG HORT
Professor: Dr. Yoshio YamamotoStudent: Lay Meng HortHome Work RoboticsIf the vector
is changing with respect to the frame, namely
̇  ̈
, the expression
̈
̇(
must bemodified.Verify this equation is replaced by
̈
̇( ̇
Where
̈
̈
̇
is known as the Coriolis acceleration.SolutionThe vector
is change with respect to the frame

1
, and the frame
1
is rotating relative to the fix frame

0
.
Z
0
Y
0
Y
0
Z’
1


Y’
1

O
0
O
1
0

Z
1
X
1
Y
1
1

TOKAI UNIVERSITY ROBOTICSHomework: 2012-11-22 2 By: LAY MENG HORT
The coordinates of
in the frame

0
are given by
 (
The velocity
is given by
̇((
(
Suppose that the homogeneous transformation relating the two frameis time dependent, so that:
([(
(
]
,
[
]
,
[
]
For simplicity we omit the argument t and the subscripts andsuperscripts on and ,and write:

 ̇ ̇
̇
̇
( use

(


)
(

̇
̇
(
̇(




⃗
̇
̇

  ̈ ̇
̇
̇
) ̇ ̇
̈
̈
(
)
  ̈ ̇
(

̇
)(

̇
̈
̈

̇
) ̇
̈
̈

̇
) ̇
̈
̈