Comparison of the efficiency of the various methods for rigidbody displacement analyses
Abstract
The state of a rigid body in the space can be expressed by one of the following three state descriptions: space description (SD), vector description (VD), or three point description (TPD). A general displacement of a rigid body from its initial to final state can be considered as being the result of a translation followed by a rotation. Different ways of describing the combination of translation and rotation, lead to different motion representations, of which the following three may be most commonly used: homogeneous transformation (HT) based on Cartesian coordinates; screw transformation (ST) based on screw axes: and the algebra of rotations (AR) based on vector expression. The objective of this paper is to evaluate the relative computational efficiency of the aforementioned three motion representations considering the aforementioned three state descriptions. This problem becomes important for the forward and inverse finite kinematic analysis of manipulators where the computation must be repeatedly performed online during motion control.
 Publication:

13th Canadian Congress of Applied Mechanics
 Pub Date:
 May 1991
 Bibcode:
 1991ccam.proc..652F
 Keywords:

 Coordinate Transformations;
 Displacement;
 Inverse Kinematics;
 Manipulators;
 Rigid Structures;
 Robot Control;
 Robot Dynamics;
 Rotating Bodies;
 Three Dimensional Motion;
 Translational Motion;
 Axes Of Rotation;
 Cartesian Coordinates;
 Position (Location);
 Screw Dislocations;
 Spatial Dependencies;
 Vectors (Mathematics);
 Structural Mechanics