3D rigid body kinematics

bi=1b: In, +(5 n)c+(5,ngin's ·

ne u
- 53 ↳
COSO ens
S

=COSOnni cosdroR
-

bi=(cosom
~
cosoncosen)ig] be > Ref frame

Is it
⑧ .

Do some for be by ③
--
=(by
and
FI
/ --
⑳

- Eig
/
-

I ar casa)(ae
-

-
n bi
1
e

1 13 CUS & by
& =

angle between

/ Ref frame
-

-1
W

D2 ~ -94 axis frame and

d
(b1 be * 99
"direction metrix"
(out
cosine box
- &13 7 (by [C] (5) in the

i
-

*
=

,
I
M
cusdr matrix [C]
-B N
has entries [25i 5 : n; coso is
=
=

1
de
R2 [C] is
orthogonal crotation matrix) [C]" [C]Tow (3x3] /ex2]
5
· ?
on
=

aas-and
I
, ,
-

bit
on Yusa
34y (23953
*
=

A
:

/
A S

COSO1
L
 ~ Ref Frame
.

multiple Frames
↳e 1
1
13 r
(23 [C3953
=

bL b1
↑
1
7
553 :

[C] .
95}
R
1
983 [C3554
·-
↑
=

U2
S
by
z
⑳
S n2 -CE53

E
[C "Tis another rotation
matrix

L siy [C"][5}
:

1
u (C) [C'][d] =

Example

bi
:
/( ! ] 5)" ]
=

verify that 363 23 by ,

bixb2= bi
↳ e
sbio :

/Be the l
redirectionsteBena
=by -

direction