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ENGINEERING
ME 652
Mobile Robotics
Handout #3:
Vehicle Dynamics
Spring, 2020
Jinwhan Kim
KAIST
MECHANICAL
ENGINEERING
surge
roll
pitch sway
yaw
heave
Geometry of Mass
• The motion of a rigid body
or a system of a particles is
influenced by
– Forces
– Moments
– Geometry of the system’s
mass
Center of Mass
• For a discrete system
Inertia Matrix
• Also called “inertia tensor” or “inertia dyadic”
• Defined about a set of reference axes
• Matrix Form:
Principal Axes
• The principal axes of a body are defined as a set of
axes about which the products of inertia are zero.
• Such axes can always be found by calculating the
eigenvalues and eigenvectors of the inertia matrix.
• In many case, all (or some) of the principal axes of a
body can be found from the geometry.
– The axis of a normal vector to a plane of symmetry is a
principal axis.
– The axis of symmetry is a principal axis, and any axis
normal to the axis of symmetry is also a principal axis.
Standard Symbols
• Physical quantities in the body-fixed frame
Functional Approximation
• Taylor series expansion
where
Stability Derivatives
• Physical interpretation
Coordinate Transformation
• Two coordinate systems
• Directional cosine
where
,
Orthogonal matrix!
Coordinate Transformation
• Transformation matrix
• Example: 2D transformation
T1(E/B)
x, y, z x , y , z &
T2(E/B)
, , , ,