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v e e ze r r
v q x x
z
z
r
1 2
y y
v Jq J
t
i
q q
z z
1 2
q 1
q
2
Rotation Matrices:
1 0 0
Rot ( x, ) 0 C S
Z
0 S C
roll
C 0 S
Rot ( y, ) 0 1 0
S 0 C
yaw Y
C S 0
Rot ( z, ) S C 0 pitch
0 0 1 X
D’Alembert Principle: Virtual Power:
v
F a
ma •
r
0 F a
ma . 0
j
qi q
j
i