Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 53

Equation (3.29) shows that the columns of a transformation matrix, e.g. , represent the members an orthonormal vector triad, i.e. . This fact poses six independent scalar constraint equations on the nine elements of . The independent constraint equations can be expressed as follows for i ∈ {1, 2, 3} and j ∈ {1, 2, 3}:

(3.33)

Therefore, can be expressed completely in terms of only three independent parameters.