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The configurations of rigid bodies in space are considered in this chapter. We first introduce reference configurations and configurations in space for general continuous bodies. Then, we concentrate on rigid bodies, for which a description of a configuration requires the specification of an orientation in space. The orientation matrix is introduced, and its properties are studied.

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Kinematics of Rigid Bodies: Configurations of Rigid Bodies in Space

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  • 发表日期：

    2026年

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  • Reuven Segev,
  • Oriel Shoshani,
  • Gal Shmuel

摘要

The configurations of rigid bodies in space are considered in this chapter. We first introduce reference configurations and configurations in space for general continuous bodies. Then, we concentrate on rigid bodies, for which a description of a configuration requires the specification of an orientation in space. The orientation matrix is introduced, and its properties are studied.