Xref: utzoo comp.robotics:685 sci.math:15116 sci.physics:16767 sci.engr:700 Path: utzoo!utgpu!news-server.csri.toronto.edu!cs.utexas.edu!mit-eddie!wuarchive!zaphod.mps.ohio-state.edu!samsung!munnari.oz.au!uniwa!puchm From: puchm@cutmcvax.cs.curtin.edu.au (RichardPuchmayer) Newsgroups: comp.robotics,sci.math,sci.physics,sci.engr Subject: dynamics equation for robot Message-ID: Date: 15 Feb 91 10:55:29 GMT Sender: usenet@uniwa.uwa.oz (USENET News System) Organization: Curtin University of Technology, Computing Science Lines: 46 Dear netters, The following question refers to : Bayliss C. McInnis and Cheng-Kang Frank Liu (1986) "Kinematics and Dynamics in Robotics: A Tutorial Based Upon Classical Concepts of Vectorial Mechanics",IEEE Journal of Robotics and Automation. Vol:RA-2, No:4, December 1986. If you don't have this article please ignore this posting. The authors differentiate equation (2) on page 181 to get equation (3). (2): Vp = Vi + P(o)i/i + Wi X Pi to get (3): Ap = Ai + P(oo)i/i + 2Wi X P(o)i + W(dot)i X Pi + Wi X ( Wi X Pi) ^ | | I only get one of these. ie. a one instead of a two. Please, someone, explain. How is this done, or is this a typo ? If it is a typo, what is the correct answer. PS: I hope this makes sense. Apologies for the way that I have done sub/super scripts. Much thanks in advance. Richard. -- /-------------------------------------------+---------------------------------\ | Some of us are poets, some of us are not. | puchm@cutmcvax.cs.curtin.edu.au | | Richard Puchmayer, Masters Student at | Sorry but I | | Curtin University of Western Australia | don't know any other addresses | +-------------------------------------------+---------------------------------+ | I know nothing, so can hold no opinions for myself or others.....:-) | \-----------------------------------------------------------------------------/