Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 66

In an IFB sequence, e.g. the IFB i‐j‐k sequence, each of the unit vectors of the rotation axes is specified as one of the basis vectors of the initial reference frame . That is,

(3.90)

The specified unit vectors must be such that j ≠ i and j ≠ k. Such a rotation sequence can be described as shown below.

(3.91)

In such a sequence, the matrix representations of all the rotation operators are expressed naturally in . In other words,

(3.92)

(3.93)

(3.94)

Hence, according to the IFB formulation explained in Section 3.7, is obtained as follows:

(3.95)