Abstract:The motion equations of a rigid body involve ten inertial characteristics: the mass, the mass center position and the inertia matrix. In order to identify these ten inertia characteristics, we propose an approach unifying them in a 4 × 4 positive definite symmetric matrix. The translation vector and the rotation matrix of the rigid body are also gathered in a 4 × 4 matrix. Therefore the motion equations are formulated as an equality between 4 × 4 skew-symmetric matrices: one representing the sum of external fo… Show more
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