Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 70

Relying on Remark 3.5, the IFB sequences are almost never used in practice. One reason for this may be the difficulty of visualizing the rotational steps of an IFB sequence while is rotated into . The visualization of the rotational steps of an RFB sequence happens to be much easier. Another reason why the IFB sequences are not preferred may be the reversal in the order of the rotational steps and the order of multiplying the corresponding rotation matrices.

On the other hand, since the RFB sequences are used almost always in practice, the qualifier RFB is often omitted. In other words, an RFB i‐j‐k sequence is often referred to simply as an i‐j‐k sequence.