Xref: utzoo comp.robotics:700 sci.math:15326 sci.physics:16940 sci.engr:774 Path: utzoo!utgpu!news-server.csri.toronto.edu!bonnie.concordia.ca!uunet!tut.cis.ohio-state.edu!sei!fs7.ece.cmu.edu!o.gp.cs.cmu.edu!netnews.srv.cs.cmu.edu!gerry From: gerry@frc2.frc.ri.cmu.edu (Gerry Roston) Newsgroups: comp.robotics,sci.math,sci.physics,sci.engr Subject: Re: dynamics equation for robot Message-ID: Date: 22 Feb 91 16:31:55 GMT References: <1991Feb15.054131.20039@portia.Stanford.EDU> Sender: netnews@cs.cmu.edu (USENET News Group Software) Reply-To: gerry@frc2.frc.ri.cmu.edu (Gerry Roston) Organization: Field Robotics Center, CMU Lines: 12 In-Reply-To: gooch@portia.Stanford.EDU's message of 15 Feb 91 05:41:31 GMT Taking the derivatives of rotating vectors, etc, is always somewhat confusing. However, if you want to see a good systematic way of doing this, I strongly recommend "Dynamics" by Kane and Levinson. Also see their book "Spacecraft Dynamics" for a similar treatment of orientations. -- Gerry Roston (gerry@cs.cmu.edu) | Society is produced by our wants, Field Robotics Center, | and government by our wickedness;... Carnegie Mellon University | Pittsburgh, PA, 15213 | Thomas Paine, "Common Sense", Jan 1776 (412) 268-6557 | Brought to you by Super Global Mega Corp .com