37 views

Uploaded by crennydane

- 3D Kinematics of Rigid Bodies - Rotating Reference Frames
- Rigid Body Dynamics
- Dynamics of Rigid Bodies-Important
- Dynamics 04 Kinematics of Rigid Body 1
- Dynamics of Rigid Bodies (Problem Set)
- Dynamics of Rigid Bodies CE 002 (TIP Reviewer)
- 2D Rigid Body Dynamics Equations of Motion
- Statics and Dynamics of Rigid Bodies
- Dynamics of Rigid Bodies Sample Problems.docx
- Equations of Motion for Rigid Bodies
- Rigid Body Dynamics
- Problem Set (Ab,Wem,Bc)
- Dynamics of Rigid Bodies (4th Year)
- PbVs s t v
- Dynamics of Rigid Bodies
- Dynamics of Rigid Bodies Merian Book 2005
- Dynamics of Rigid Bodies
- Dynamics of Rigid Bodies
- Methods of Research
- Dynamic of Rigid Bodies

You are on page 1of 14

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

3

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.

4

-On the rotated body frame,

respectively . -Since both, the projections and it follows that are expressed on the Inertial frame,

5

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.,

6

7

Full Rotation

With and shorthand forms for cosine and sine, respectively. -The mapping i.e., is also an orthonormal matrix ,

8

Inertial Frame

-Newtons second law only applies to inertial systems. -Newtons law applied to the translational motion is Body Frame

9

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?

12

Combining the dynamics and the kinematics yields a 12-dimentinal highly coupled nonlinear system

13

Combining the dynamics and the kinematics yields a 12-dimentinal highly coupled nonlinear system

14

QUESTIONS???

- 3D Kinematics of Rigid Bodies - Rotating Reference FramesUploaded byJeff Rhoads
- Rigid Body DynamicsUploaded bysureshkumarga
- Dynamics of Rigid Bodies-ImportantUploaded bylrc375
- Dynamics 04 Kinematics of Rigid Body 1Uploaded byPongsakorn Ajdchariyasakchai
- Dynamics of Rigid Bodies (Problem Set)Uploaded byJanrayRabaya
- Dynamics of Rigid Bodies CE 002 (TIP Reviewer)Uploaded byJames Lindo
- 2D Rigid Body Dynamics Equations of MotionUploaded byjehan11
- Statics and Dynamics of Rigid BodiesUploaded byJulia Chiesa
- Dynamics of Rigid Bodies Sample Problems.docxUploaded byLou Berwel Domingo
- Equations of Motion for Rigid BodiesUploaded byAbdelrahman
- Rigid Body DynamicsUploaded byKenn Consuelo
- Problem Set (Ab,Wem,Bc)Uploaded byMico Andres
- Dynamics of Rigid Bodies (4th Year)Uploaded byJaypee Calamba
- PbVs s t vUploaded bytopabhi1
- Dynamics of Rigid BodiesUploaded byIusty Ĩusty
- Dynamics of Rigid Bodies Merian Book 2005Uploaded byDenis PA
- Dynamics of Rigid BodiesUploaded byJishnu P Das
- Dynamics of Rigid BodiesUploaded byFernando Alcala Dela Cruz
- Methods of ResearchUploaded byDon Sur
- Dynamic of Rigid BodiesUploaded byJasper Soliman
- Rigid Body DynamicsUploaded byNur Wahyudi
- 02 Statics of Rigid Bodies 03 Rigid BodiesUploaded byjamal_jmy
- Dynamics of Rigid Bodies - Introductory LessonUploaded byRave Arevalo
- Kinematics of Rigid Bodies ProblemsUploaded byRaymond Su
- ES 12 2nd Sem AY 14 15 Problem Set 1Uploaded byJules Ochoa Aficial
- Rigid Body DynamicsUploaded bybogartmendez
- Dynamics of Rigid BodiesUploaded byGlenn Von Posadas
- Rotation of Rigid BodiesUploaded byAman Pathak
- Dynamics Examples Rigid BodiesUploaded byKen Loo

- math18currUploaded byMat Lek
- An Introduction to Non-Governmental Organizations (NGO) ManagementUploaded byprandourmi
- RocksUploaded bycrennydane
- L'étude de NatureUploaded byLibération
- ISO 15189Uploaded byEddie Mendoza
- K-12 Math CrosswalksUploaded bycrennydane
- Age of EarthUploaded bycrennydane
- Rigid Body DynamicsUploaded bycrennydane
- Common Core State Standard MathematicsUploaded byTaller Sigma
- Earth's Dynamic Systems Chapter 1Uploaded byjanitorraj
- Quad CoptersUploaded bycrennydane
- Earth WeekUploaded bycrennydane
- How to Study MathUploaded byRizka Amalia
- Earth SciUploaded bycrennydane
- Earth DamsUploaded byTheodore Teddy Kahi
- SwordsUploaded bycrennydane
- Wanderer a4Uploaded bycrennydane
- Holy SpiritUploaded bycrennydane
- CHEM_168212_7Uploaded bycrennydane
- Unicode MathUploaded bycrennydane
- advpcmUploaded byrubhami
- Chemistry Reference TablesUploaded bycauten2
- Leg Spirit MagicUploaded bycrennydane
- Android-Chapter01-IntroUploaded byadi_yustiawan

- 11_Topic11__MeasurementDataProc.10.16.17docx (1)Uploaded bykat
- An Exact Mapping from Navier-Stokes Equation to Schrodinger Equation via Riccati EquationUploaded byRyanElias
- Lesson 3Uploaded byJan Michael Suarez
- 4DG Nasa TestsUploaded byMauro Marafon
- Is decision making an art or a scienceUploaded byjason
- National Science Foundation: nsf04577Uploaded byNSF
- RAM StatementsUploaded byPunithRossi
- math 1040 m m 2016 fallUploaded byapi-316973791
- 07 Constructivism Implications for the Design and Delivery of Instruction .pdfUploaded byFitri Manson
- Steam hammer- TheoryUploaded byktsnl
- Mt-II 2 Marks Q&A-unit iUploaded byParamasivam Veerappan
- annotated bibliographyUploaded byapi-396915969
- label2rgbUploaded bysharmi
- plaxis 8.pdfUploaded byAfendi Ariff
- FM11 Ch 12 Mini CaseUploaded byRahul Rathi
- Nature and Properties of LightUploaded byMario Vargas Aguilar
- 10.1163@15733823-00211p03 Equi-Probability Prior to 1650Uploaded byGrossetestis Studiosus
- Terms Related to Spheircla MirrorsUploaded bymspalem
- lec 3Uploaded byZaid Yahya
- Guide Specifications for Seismic Isolation Design CONTENTSUploaded byTianyouXie
- Analytical Geometry Graph Plotting SoftwareUploaded byGoldenKstar
- A Review of Kinetic Models for Inactivating Microorganisms and Enzymes by Pulsed Electric Field ProcessingUploaded byMarcos Infantes García
- Fem of Double Wishbone SuspensionUploaded byShubham Gupta
- DirectX Factor - Exploring Filters in XAudio2Uploaded byDorothy Saikia
- SSRN-id809107Uploaded byapi-3715003
- Staff+Time+Capacity+Calculator.xlsxUploaded byAhmed Elsayed
- Estimating Park-Ang Damage Index Using Equivalent SystemsUploaded byAbdulelah Al-Ahdal
- 34Bmid2 Practice SolnsUploaded byWeiyu Tong
- Silabus Mata Pelajaran PtsbUploaded byArd Zaha
- Wave EquationsUploaded bymahendranqa