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Angular velocity: the angular velocity ω is the rate at which the angular position θ changes with respect to time t: = The angular velocity is represented in Figure 1 by a vector Ω pointing along the axis of rotation with magnitude ω and sense determined by the direction of rotation as given by the right-hand rule.
There are two main descriptions of motion: dynamics and kinematics.Dynamics is general, since the momenta, forces and energy of the particles are taken into account. In this instance, sometimes the term dynamics refers to the differential equations that the system satisfies (e.g., Newton's second law or Euler–Lagrange equations), and sometimes to the solutions to those equations.
The transport theorem (or transport equation, rate of change transport theorem or basic kinematic equation or Bour's formula, named after: Edmond Bour) is a vector equation that relates the time derivative of a Euclidean vector as evaluated in a non-rotating coordinate system to its time derivative in a rotating reference frame.
Unprimed quantities refer to position, velocity and acceleration in one frame F; primed quantities refer to position, velocity and acceleration in another frame F' moving at translational velocity V or angular velocity Ω relative to F. Conversely F moves at velocity (—V or —Ω) relative to F'. The situation is similar for relative ...
If the kinetic energy is a homogeneous function of degree 2 of the generalized velocities, and the Lagrangian is explicitly time-independent, then: ((˙), (˙ ˙),) = ((˙), ˙ ˙,), (, ˙), where λ is a constant, then the Hamiltonian will be the total conserved energy, equal to the total kinetic and potential energies of the system: = + =.
Independent of time: The same motion may be sped up or slowed down, and it would still satisfy the Stokes equations. More geometrically, this means that the motion of a swimmer in the low Reynolds number regime is purely determined by the shape of its trajectory in configuration space. Kinematic reversibility: The same motion may be reversed.
One may instead change to a coordinate frame fixed in the rotating body, in which the moment of inertia tensor is constant. Using a reference frame such as that at the center of mass, the frame's position drops out of the equations. In any rotating reference frame, the time derivative must be replaced so that the equation becomes
From this point of view the kinematics equations can be used in two different ways. The first called forward kinematics uses specified values for the joint parameters to compute the end-effector position and orientation. The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters ...