Orthogonal Coordinate Systems

2017 ◽  
pp. 59-88
Author(s):  
Sivaji Chakravorti
Keyword(s):  
Coordinate Systems ◽  
Orthogonal Coordinate Systems

Justification of kinematic scheme small of the manipulator forestry machines

2015 ◽  
Vol 5 (3) ◽  
pp. 234-239
Author(s):  
Платонова ◽  
Marina Platonova ◽  
Драпалюк ◽  
Mikhail Drapalyuk ◽  
Платонов ◽  
...  
Keyword(s):  
Coordinate System ◽  
Reference System ◽  
Coordinate Systems ◽  
Kinematic Scheme ◽  
Inertial Coordinate System ◽  
Generalized Coordinates ◽  
Right Hand ◽  
The Absolute ◽  
Orthogonal Coordinate Systems ◽  
Base Machine

This article discusses the the selection and justification of the reference system and of the generalized coordinates for the kinematic scheme developed by of the manipulator taking into account these factors. The absolute (inertial) coordinate system associated with the center of the support member (eg turntable), joins the arm to the base machine and the subsequent coordinate system formed in accordance with the rules. On the whole, to describe the position of the investigated little detail of the manipulator in the space of generalized coordinates must be four and five right-hand orthogonal coordinate systems.

scholarly journals Dynamic Model of TRMS Based on Homogeneous Transformation and Euler-Lagrange Equation

2021 ◽  
Vol 11 (8) ◽  
pp. 1-7
Author(s):  
Thi Le Na Nguyen ◽  
◽  
Quoc Huy Vu
Keyword(s):  
Nonlinear System ◽  
Dynamic Model ◽  
Mimo System ◽  
Lagrange Equation ◽  
Control Algorithms ◽  
Coordinate Systems ◽  
Twin Rotor Mimo System ◽  
Explicit Dynamic ◽  
Orthogonal Coordinate Systems ◽  
Twin Rotor

The aerodynamic experimental set TRMS (Twin Rotor MIMO System) is a strong nonlinear system, which has been taken by many scientists as an object to test modern control algorithms. The paper built a complete and explicit dynamic model for the TRMS based on dissociating TRMS into 3 subsystems, using homogeneous transformations in orthogonal coordinate systems to calculate the mass point’s position and velocity in component sub-systems; Euler - Lagrange equation was applied to model the dynamics for the object. Keywords— TRMS, dynamics, homogeneous transformation, mechanical system dissociation, Euler - Lagrange.

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