Kinematic analysis of spatial mechanical systems using exponential rotation matrices

Date

2007-11-01

Author

Özgören, Mustafa Kemal

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The mathematical properties associated with the exponential rotation matrices are reviewed. By means of two typical mechanism examples, it is demonstrated that these properties constitute a versatile analytical tool, which can be used eftectively in kinematic studies on spatial mechanical systems involving position, velocity, acceleration, and singularity analyses.

Subject Keywords

Inverse, Kinematics

URI

https://hdl.handle.net/11511/30322

Journal

JOURNAL OF MECHANICAL DESIGN

DOI

https://doi.org/10.1115/1.2771233

Collections

Graduate School of Natural and Applied Sciences, Article

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Citation Formats

M. K. Özgören, “Kinematic analysis of spatial mechanical systems using exponential rotation matrices,” JOURNAL OF MECHANICAL DESIGN, pp. 1144–1152, 2007, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/30322.