RobInd Ch2p2

Robotique Industrielle
UPJV, Département EEA
M1 3EA, Parcours RoVA, EC15
Fabio MORBIDI
Laboratoire MIS
Équipe Perception Robotique
E-mail: fabio.morbidi@u-picardie.fr
Lundi 13h30-16h30 (CM ou TD, salle CURI 305)

(TP, salle TP204)
Année Universitaire 2021-2022

Plan du cours
Chapitre 1 : Introduction
1.1 Définitions
1.2 Constituants d’un robot
1.3 Classification des robots
1.4 Caractéristiques d’un robot
1.5 Générations de robots
1.6 Programmation des robots
1.7 Utilisation des robots
Chapitre 2 : Fondements Théoriques
2.1 Pose d’un corps rigide

• Matrices de rotation et autres représentations de l’orientation
• Transformations homogènes
2
Plan du cours
2.2 Cinématique
• Dérivée d’une matrice de rotation
• Vitesse angulaire d’un repère
• Mouvement de corps rigide
• Torseur cinématique
Chapitre 3 : Modélisation d’un Robot
3.1 Modèle géométrique

• Convention de Denavit-Hartenberg
• Modèle géométrique direct
• Modèle géométrique inverse
3.2 Modèle cinématique

• Modèle cinématique direct
• Modèle cinématique inverse
3
Introduction
y0
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z0
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O0
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solide
x0
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<latexit sha1_base64="dLM3a6Birapq7lsuwC788MdyUL4=">AAACiHicbVHLTtwwFPWE8koL5bFkEzFTqatRgqgoOwosukGAxADSJEKOczNYEzuu7UwBy9/BFj6rf4MTsiDQK1k+Ovd9TyoKqnQY/ut5c5/mFxaXlv3PX1ZWv66tb1yqspIERqQsSnmdYgUF5TDSVBdwLSRglhZwlU6Pav/VDKSiJb/Q9wIShiec5pRg7ahkMPDjGWjzYP3B4GatHw7DxoKPIGpBH7V2drPegzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OSYL8lK6x3XQsG8zDGZK3bPURTKsb9V7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rd66zdRXT+MzGUi0oDJzYI/JjDX1Iyhnlm6nPacZSYGLiqJNSNjYnrL82DfmStq3YM7lwSThz5qxC3OHUSNCHigVhzehFZ0yBmDXWLOGGi9zJ8BJc7w+jHMDzf6R/sthItoS20jb6jCO2hA/QbnaERIugPekRP6NnzvdDb8/ZfQ71em7OJOuYdvgABh8mn</latexit>
z o0
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repère fixe
O-xyz
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y
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O
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<latexit sha1_base64="VRwC6aRCcdZ1KysW0w4J96DKlBI=">AAACiXicbVHLTtwwFPWkpdAALbTLbqLOILEaxQhUxApEF91UpRIDSJOAHOdmsCZ2LNsZZmr5P7pt/6p/Uydk0UCvZPno3Pc9mSyZNnH8ZxC8eLn2an3jdbi5tf3m7c7uuytd1YrChFZlpW4yoqFkAiaGmRJupALCsxKus/l5479egNKsEpdmJSHlZCZYwSgxnrodjcJkAcYuXRSORnc7w3gctxY9B7gDQ9TZxd3uAJK8ojUHYWhJtJ7iWJrUEmUYLcGFSa1BEjonM5h6KAgHndp2bBfteSaPikr5J0zUsv9mWMK1XvHMR3Ji7vVTX0P+15frpmCvu22ilC50n63lTAHM+4PmCyZ1N+rycdb+IqY4Ti0TsjYgqIuiMBHwQCvOichtc083xalNQOhaQdPY2qT5siIaYud8tc/gz6XgqyfPSnlPMq9BGyJ/UGe/XWJnW8SdZX4RLwx+KsNzcHUwxkfj+PvB8PSwk2gDfUAf0T7C6BM6RV/QBZogihT6iX6h38FmgIPj4OQxNBh0Oe9Rz4Lzv2msyc8=</latexit>
Pour décrire la pose d’un solide dans l’espace 3D, on a besoin de connaître:
• [Translation] Position d’un point sur le solide (O 0) par rapport au repère fixe
• [Rotation] Composantes des vecteurs unitaires du repère attaché au solide

avec origine O 0, par rapport au repère fixe
4
Introduction
P
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p1
<latexit sha1_base64="4xBbMhZAfBYZaDJtlKxyRl6eLC8=">AAACjHicbVFdT9RAFJ2tKFAVFn3kpWHXxKdNh0A0ISYYjfHFCAkLJNu6mU5vl8l2ppOZ6SpO5pfwij/Kf+O09MECN5nMybnf92SyZNrE8d9B8GTt6bP1jc3w+YuXW9vDnVfnuqoVhSmtykpdZkRDyQRMDTMlXEoFhGclXGTLT43/YgVKs0qcmWsJKScLwQpGifHUfLg9HofJCoyV7gcOx+P5cBRP4taihwB3YIQ6O5nvDCDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0KltJ3fRG8/kUVEp/4SJWvb/DEu41tc885GcmCt939eQj/py3RTsdbdNlNKF7rO1XCiAZX/QfMWk7kb9dTdrfxFTvE8tE7I2IKiLojAR8JNWnBOR2+agboZTm4DQtYKmsbVJ82VFNMLO+WqfwZ9LwTdPfizlFcm8CG2I/E2d/X6GnW0Rd5b5Rbww+L4MD8H5/gQfTuLT/dHxQSfRBtpFe+gtwugdOkZf0QmaIopqdINu0Z9gKzgIjoIPd6HBoMt5jXoWfPkH9X7KcQ==</latexit>
0
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p
Repère 1
o01
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Repère 0
Soit:
• P : point générique dans l’espace 3D
0 1
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• p , p : coordonnées du point P par rapport au repère 0 et 1, respectivement

0
<latexit sha1_base64="whAx+uUEvqq977hdR89IlDFZIw0=">AAACjnicbVHLbtQwFPWkPEoKdAaWbCJmkFiN4pFa2KAWwaIbRJE6baVJGDnOzdSa2LFsZ/qw/Cls4Zv4G5w0C9L2SpaPzn3fk8mSaRPHfwfB1qPHT55uPwt3nr94uTscvTrVVa0ozGlVVuo8IxpKJmBumCnhXCogPCvhLFt/afxnG1CaVeLEXEtIOVkJVjBKjKeWw9FkEiYbMLZyS/wzDieT5XAcT+PWovsAd2CMOjtejgaQ5BWtOQhDS6L1AsfSpJYow2gJLkxqDZLQNVnBwkNBOOjUtrO76J1n8qiolH/CRC37f4YlXOtrnvlITsyFvutryAd9uW4K9rrbJkrpQvfZWq4UwLo/aL5hUnejXt3O2l/EFB9Ty4SsDQjqoihMBFzSinMictuc1C1wahMQulbQNLY2ab6siMbYOV/tK/hzKfjmyc+lvCCZl6ENkTfU2e8n2NkWcWeZX8QLg+/KcB+czqZ4bxr/mI0PZ51E2+gNeoveI4w+oEN0hI7RHFF0iX6h3+hPMAz2g0/BwW1oMOhyXqOeBUf/AHOoyxE=</latexit>
• o1 : vecteur qui décrit l’origine du repère 1 par rapport au repère 0

0
<latexit sha1_base64="K9dBw6ODwS7LWcK/jUdq8FpBps4=">AAACjnicbVHJbtswEKXVLVE3uz32ItQu0JMhGuhyKZogPeRSNC3iJIClGhQ1cgiLFEFSzkLwU3ptvil/E0rRoUo6AMGHN/u8TJZMmzi+HgQPHj56/GRrO3z67PmLl8PRqyNd1YrCnFZlpU4yoqFkAuaGmRJOpALCsxKOs/Ve4z/egNKsEofmQkLKyUqwglFiPLUcjiaTMNmAsb/cEv+Ow8lkORzH07i16D7AHRijzg6WowEkeUVrDsLQkmi9wLE0qSXKMFqCC5NagyR0TVaw8FAQDjq17ewueueZPCoq5Z8wUcv+m2EJ1/qCZz6SE3Oq7/oa8r++XDcFe91tE6V0oftsLVcKYN0fNN8wqbtRz29n7S9iis+pZULWBgR1URQmAs5oxTkRuW1O6hY4tQkIXStoGlubNF9WRGPsnK/2Dfy5FHz35G4pT0nmZWhD5CV19schdrZF3FnmF/HC4Lsy3AdHsyn+MI1/zsY7s06iLfQGvUXvEUaf0A7aRwdojig6Q3/QX3QVDIOPwZfg621oMOhyXqOeBfs3NgjK9A==</latexit>
• R1 : matrice de rotation du repère 1 par rapport au repère 0

5
Introduction
P
p1
0
p
Repère 1
o01
Repère 0
On peut écrire la position du point P par rapport au repère 0, comme:

<latexit sha1_base64="nh8JSD4JGcMQmSQxi5i3ompmV8w=">AAACw3icbVFdb9MwFHXD1whfHTzyEtEiIVFV8STYXpCG+BAviIHWbVITKse56azGjmU7ZcPyP+LX8Ibgx+CkmUQ2rmT5+Nxz7Xt9MlkybeL41yC4dv3GzVtbt8M7d+/dfzDcfnikq1pRmNGqrNRJRjSUTMDMMFPCiVRAeFbCcbZ60+SP16A0q8ShOZeQcrIUrGCUGE8thu/H4zDJqjPIbbIGY6X7GkfJ5FUyidpz5Ra4ZZ5fMF9aJplcyLELx+PFcBRP4zaiqwB3YIS6OFhsDyDJK1pzEIaWROs5jqVJLVGG0RJcmNQaJKErsoS5h4Jw0KltB3bRU8/kUVEpv4SJWvbfCku41uc880pOzKm+nGvI/+Zy3VzYe902KqUL3WdruVQAq36j+ZpJ3bV6tum1P4gp9lLLhKwNCOqiKEwEfKMV50RsDHBznNoEhK4VNA9bmzRbVkQj7Jy/7S3471Lw0ZOvS3lKMu9CK5HfqbOfDrGzLeLOMj+INwZftuEqONqZ4hfT+PPOaP9lZ9EWeoyeoGcIo120jz6gAzRDFP1AP9Fv9Cd4F6wCFZiNNBh0NY9QLwL3F5zA33M=</latexit>
Transformation de coordonnées d’un

p0 = o01 + R01 p1 vecteur entre le repère 1 et le repère 0
Remarque: Ce type de transformation conserve les distances.

On dit qu’elle est une transformation rigide
6
Coordonnées homogènes
• La présence, au même temps, de produits et de sommes dans l'équation
p0 = o01 + R01 p1
<latexit sha1_base64="Io61vwWQ8EcIg1SxZ30zCpbUPgE=">AAACu3icbZFNb9QwEIa94auEry09conYRUJitYorVXApKmoPXBAFddtKm7BynMnWbOxYtrNQLP+b/hqucOHf4KSpRFpGivL6mdf2jCeTJdMmjv8Mglu379y9t3E/fPDw0eMnw82nx7qqFYUZrcpKnWZEQ8kEzAwzJZxKBYRnJZxkq/0mf7IGpVkljsy5hJSTpWAFo8R4tBi+HY/DZA3GSvcljpLJbjKJ2nXlFrglr67I55Ykkys7DsfjxXAUT+M2opsCd2KEujhcbA4gyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KEuZeCcNCpbRt10QtP8qiolP+EiVr67w5LuNbnPPNOTsyZvp5r4H9zuW4O7N1uG5fShe7TWi4VwKpfaL5mUnelfr+std+IKd6klglZGxDURVGYCPhGK86JyG3zoG6OU5uA0LWC5mJrk+aXFdEIO+dPOwD/XAo+ePiulGck80NoLfIHdfbjEXa2VdxZ5hvxg8HXx3BTHG9P8c40/rQ92tvpRrSBnqHn6CXC6DXaQ+/RIZohii7QT/QL/Q52Axp8DcpLazDo9myhXgT1X39/27w=</latexit>
est peu pratique pour effectuer des calculs systématiques, dûs par exemple
à des changements successifs de repère. On lui préfère une représentation
matricielle, basée sur les coordonnées homogènes
• La représentation en coordonnées homogènes consiste à doter toute
notation vectorielle d'un facteur d'échelle, en introduisant une coordonnée
supplémentaire
• Soit par exemple P un point dans l’espace 3D, de coordonnées:
3 <latexit sha1_base64="zuiNqwNp0573stZuoHLtJGiaito=">AAAC3XicbVFNj9MwEHXD1xK+unDkktIicVhVyYoVXJAWwYELYpG2uyvVUXHcSWo1dizbKRTLR26IK/+I/8B/4ApnnGwOZJeRLD+9eZ4Zz8tkybSJ45+D4MrVa9dv7NwMb92+c/fecPf+ia5qRWFGq7JSZxnRUDIBM8NMCWdSAeFZCafZ+lWTP92A0qwSx2YrIeWkECxnlBhPLYYfJpMQb8BY6SK89wLvRSEuITdzPApxBgUTlihFts5SFxK80ZJQsPE0PqDcYRxm/tAQg1h2uhCPsGLFyqR4NA0nk8Vw7NVtRJdB0oEx6uJosTsAvKxozUEYWhKt50ksTerLG0ZL8A1qDX6KNSlg7qEgHHRq21W46LFnllFeKX+EiVr23xeWcK23PPNKTsxKX8w15H9zS90U7HW3jUrpXPfZWhYKYN0fdLlhUnejfjqftf8Rkz9PLROyNiCoi7wNAj7SinPiV9s45OZJav2ida2gaWwtbq4sj8aJc77aa/DrUvDWky9LuSKZd7WVyM/U2XfHibMt4s4y/xFvTHLRhsvgZH+aHEzj9/vjw6edRTvoIXqEnqAEPUOH6A06QjNE0Q/0C/1Gf4JF8CX4Gnw7lwaD7s0D1Ivg+1+mbek5</latexit>
2
a
p = 4 b 5.
c
2 3
wa
<latexit sha1_base64="UJn7iO2XZCo6+jwIooImhMrHSX0=">AAADC3icbVHNbhMxEPYuf2X5aQo3uGxJkDhU0W5FBRekIjhwQRSpaSvFq8jrnU2srL2W7U0Ilh8BXoYb4spD8B48AN50D6TNSJY/fTP+ZjxfLiumTZL8CcIbN2/dvrNzN7p3/8HD3d7eozNdN4rCiNZVrS5yoqFiAkaGmQoupALC8wrO8/m7Nn++AKVZLU7NSkLGyVSwklFiPDXpfR8MIrxkBRhWFWDxAoyVzsX44A0+iCNcQWnGeD/COUyZsEQpsnKWumhJ8EJLQsEmw+SIcodxtMy3cHQLF2EQRScW4X2s2HRmsmgwmPT6vmwd8XWQdqCPujiZ7AWAi5o2HIShFdF6nCbSZF7bMFqBV280+PZzMoWxh4Jw0JldL87Fzz1TxGWt/BEmXrP/v7CEa73iua/kxMz01VxLbs0VuhXc6G7bKqVLvck2cqoA5puDFgsmdTfql8tZNz9iyteZZUI2BgR1sTdKwJLWnBO/19ZEN04z67esGwVtY2txe+Vl3E+d82rvwa9LwUdPvq3kjOTe+HWJ/Eqd/XSaOrtG3FnmP+KNSa/acB2cHQ7To2Hy+bB//LKzaAc9Rc/QC5SiV+gYfUAnaIQo+hs8CfrBIPwW/gh/hr8uS8Oge/MYbUT4+x9Lkvnc</latexit>
Alors la représentation
du point P à l'aide de
6 wb 7
e = 6
p 7
4 wc 5 avec w 6= 0
<latexit sha1_base64="5Z9l+KIBOp7NOYKx33GFpL9v5JI=">AAACjXicbVHLTtwwFPWkL5rSMrTLbqzOVGI1ShCoXVQViEqwQaUSA0iTaOQ4N4M1sePazvCw/Cfdln/ib3BmsmigV7J8dO6570yWTJsouu8Fz56/ePlq7XX4Zv3tu43+5vszXdWKwphWZaUuMqKhZALGhpkSLqQCwrMSzrP5QeM/X4DSrBKn5kZCyslMsIJRYjw17feHQxxe4UTAbxzhcDic9gfRKFoafgriFgxQayfTzR4keUVrDsLQkmg9iSNpUkuUYbQEFya1BknonMxg4qEgHHRql607/NkzOS4q5Z8weMn+G2EJ1/qGZ17JibnUj30N+V9frpuEneq2USld6C5by5kCmHcbzRdM6rbV61Wv3UFM8TW1TMjagKAO49Cv8IpWnBOR22QBxk3i1CYgdK2gKWxt0nxZgQexcz7bD/DrUnDsyf1SXpIMzEoib6mzP09jZ5eIO8v8IP4w8eMzPAVn26N4dxT92h7s7bQnWkMf0Se0hWL0Be2hI3SCxoiiBfqD/qK7YCPYDb4F31fSoNfGfEAdCw4fAEx+yaA=</latexit>
coordonnées homogènes
est faite par:
w
7
Coordonnées homogènes P
p1
p0
o01
• En pratique, on choisit un facteur d'échelle unitaire (à savoir w = 1)

<latexit sha1_base64="HIzkWMOGuXga6TmHEqw3yJO4gqM=">AAACiHicbVFNb9QwEPWmBUootIUjF4tdpJ5W8UpVywGpfBy4IIrUbSttospxJltrY8fYzpbW8u/gCj+Lf4OzmwNpO5LlpzdvZp49uaq4sUnydxBtbD56/GTrafxs+/mLnd29l2embjSDKaurWl/k1EDFJUwttxVcKA1U5BWc54tPbf58CdrwWp7aGwWZoHPJS86oDVQ2GuH4Gr/HBMej0eXuMBknq8D3AenAEHVxcrk3gLSoWSNAWlZRY2YkUTZzVFvOKvBx2hhQlC3oHGYBSirAZG7l2uO3gSlwWetwpMUr9v8KR4UxNyIPSkHtlbmba8kHc4VpG/amu1alTWn6bKPmGmDRN1osuTKd1Z9rr/2H2PIoc1yqxoJkHuM4lXDNaiGoLFy6BOtnJHMpSNNoaAc7l7ZXXuIh8T50+wzhuzR8DeSHSl3RHOxaom6Zd99OiXcrJLzj4SFhMeTuGu6Ds8mYHIyT75Ph8aRb0RZ6jd6gfUTQITpGX9AJmiKGfqBf6Df6E8VREh1G79bSaNDVvEK9iD7+A15Ex+0=</latexit>
• Pour avoir une représentation compacte de la relation entre les coordonnées

du même point P dans deux repères, on utilise donc la représentation
homogène suivante:
<latexit sha1_base64="+2DSGgU+DBwmlLbIhRyX94I7PIs=">AAAC+3icbVFNb9QwEHXCVwkf3VJuXFJ2kThUq6SIjwtSERy4IIrUbSuto5XjTHattRPLdrZdLPNnuCGu/Bju/BCcNAe2ZSTLozdvxs/zcsmZNknyOwhv3Lx1+87W3eje/QcPtwc7j0503SgKE1rzWp3lRANnFUwMMxzOpAIicg6n+fJ9Wz9dgdKsro7NWkImyLxiJaPEeGg2+DYaRficFWAYL8DiFRgrnYvx/lu8H0eYQ2mmeC/COcxZZYlSZO0sdVHPxCstCQWbjNMXVDiMI2zgwnTCbM4bcDb1ZKiKvjfCe1ix+cJk0WgUzwbDZJx0EV9P0j4Zoj6OZjsB4KKmjYDKUE60nqaJNJkfbhjl4Mc3GryiJZnD1KcVEaAz2+lx8TOPFHFZK38qE3fovx2WCK3XIvdMQcxCX6214H9rhW4HbrxuW5bSpd5EGzlXAMtNocWKSd1LvbjUuvkRU77JLKtkY6CiLvbGVHBOayGIX2xrhZummfVr1o2C9mFrcXvlZTxMnfPTPoBfl4JPHnzH5YLk3r6OIr9SZz8fp852mXCW+Y94Y9KrNlxPTg7G6ctx8uVgePiqt2gLPUFP0XOUotfoEH1ER2iCKPoTRMFu8Dh04ffwR/jzkhoGfc8u2ojw11+UsvUh</latexit>
" #
p
e =
p On rajoute une 4e coordonnée de
p “tilde”
<latexit sha1_base64="vkjnJFHh74/lzlWE073PiiME9uI=">AAACiXicbVFNb9MwGHYzPkYGbB1HLhEtEqcqroSYdioaBy6IIa3bpCZMjvOmsxo7lu0UhuX/wRX+1f7NnCyHpd0rWX70vN/vk8mSaRPHt4Ng58nTZ893X4R7L1+93j8YHp7rqlYU5rQqK3WZEQ0lEzA3zJRwKRUQnpVwka1OGv/FGpRmlTgzNxJSTpaCFYwS46mf43GYrMFY6cLxOLo6GMWTuLVoG+AOjFBnp1fDASR5RWsOwtCSaL3AsTSpJcowWoILk1qDJHRFlrDwUBAOOrXt2C5675k8KirlnzBRyz7MsIRrfcMzH8mJudabvoZ81JfrpmCvu22ilC50n63lUgGs+oPmayZ1N+rv+1n7i5jiKLVMyNqAoC6KwkTAL1pxTkRum3u6BU5tAkLXCprG1ibNlxXRCDvnq30Bfy4F3zz5uZTXJPMatCHyD3X2+xl2tkXcWeYX8cLgTRm2wfl0gj9O4h/T0WzaSbSL3qJ36APC6BOaoa/oFM0RRQr9Rf/Q/2AvwMFRcHwfGgy6nDeoZ8HJHVgcycU=</latexit>
1 valeur égale à 1 au vecteur p 2 R
3
<latexit sha1_base64="MEmFhLsCm8xg8Sp/N2nGAbBetYI=">AAACnHicbVFNb9QwEPWGj5bwtYUjEljsInFaJYsqOBbRAxKqKKi7rbQJK8eZbK2NHct2ForlI7+m1/Jj+Dc42RxIy0iWnt48z7yZyWTJtImiP4Pg1u07d3d274X3Hzx89Hi492Suq1pRmNGqrNRZRjSUTMDMMFPCmVRAeFbCabb+0ORPN6A0q8SJuZCQcrISrGCUGE8thy/G4zDZgLHS4YQJnHBizrPMfnXf3oTjMV4OR9EkagPfBHEHRqiL4+XeAJK8ojUHYWhJtF7EkTSpJcowWoILk1qDJHRNVrDwUBAOOrXtJA6/8kyOi0r5Jwxu2X9/WMK1vuCZVzZG9fVcQ/43l+umYK+7bVRKF7rP1nKlANZ9o/mGSd1Z/bH12h/EFO9Sy4SsDQjqMA4TAd9pxTkRuW0W7BZxahMQulbQNLZ2u+oCj2LnfLVD8OtScOTJ96U8J5k/SiuRP6mzn09iZ1vEnWV+EH+Y+PoZboL5dBLvT6Iv09HBtDvRLnqGXqLXKEZv0QH6iI7RDFH0C12iK/Q7eB4cBp+Co600GHR/nqJeBPO/p3PQuA==</latexit>
8
Matrices homogènes
1 0
<latexit sha1_base64="lrm1h6kvCsfJYh4RL8l8LHE9g1c=">AAACjXicbVFdT9swFHWzDbpsgzIeeYnWIu2pSioh9jChoiFtL2hMooDUhMpxborV2LFspwws/5O9sv+0fzMn5GGBXcny0bnf96SioEqH4Z+e9+Llq43N/mv/zdt3W9uDnfcXqqwkgRkpi1JepVhBQTnMNNUFXAkJmKUFXKarL7X/cg1S0ZKf6zsBCcNLTnNKsHbUYjAYjfx4DdoIex36o1GwGAzDcdhY8BxELRii1s4WOz2Is5JUDLgmBVZqHoVCJwZLTUkB1o8rBQKTFV7C3EGOGajENKPbYN8xWZCX0j2ug4b9N8NgptQdS10kw/pGPfXV5H99maoLdrqbOkqqXHXZSiwlwKo7aLamQrWj/nyctbuIzj8lhnJRaeDEBoEfc7glJWOYZ6a+qJ1HiYmBq0pC3diYuP7SPBhG1rpqJ+DOJeHUkceFuMGpU6EJEffEmu/nkTUNYtZQt4gTJnoqw3NwMRlHB+Pwx2Q4nbQS9dEe+oA+oggdoin6hs7QDBG0Rr/QA/rtbXsH3mfv6DHU67U5u6hj3te/X9DKmA==</latexit> <latexit sha1_base64="vQedZ3fYhWlg2679CtOxR+Ub9hA=">AAACjXicbVHLTtwwFPWkDyB9MLTLbqLOVOpqFI+EYIEQVSvRTQVIDCBN0pHj3AzWxI5lO9NSy3/Ctv2n/k2dkAWBXsny0bnvezJZMm3i+O8gePL02fONza3wxctXr7eHO28udFUrCjNalZW6yoiGkgmYGWZKuJIKCM9KuMxWnxv/5RqUZpU4NzcSUk6WghWMEuOpxXA4HofJGoyV7jsOx+NoMRzFk7i16DHAHRihzk4XOwNI8orWHIShJdF6jmNpUkuUYbQEFya1Bknoiixh7qEgHHRq29Fd9MEzeVRUyj9hopa9n2EJ1/qGZz6SE3OtH/oa8r++XDcFe91tE6V0oftsLZcKYNUfNF8zqbtRf97N2l/EFPupZULWBgR1URQmAn7QinMicttc1M1xahMQulbQNLY2ab6siEbYOV/tC/hzKfjmyU+lvCaZV6ENkb+osyfn2NkWcWeZX8QLgx/K8BhcTCd4dxKfTUdH006iTfQOvUcfEUZ76Ah9Radohihao1v0G/0JtoPd4CA4vAsNBl3OW9Sz4PgfYezKmQ==</latexit>
• Si on utilise cette représentation pour les vecteurs p et p , on peut écrire

la transformation de coordonnées comme:
<latexit sha1_base64="ZBvUh5+0PP3JBMHtMak0fcWdNrk=">AAACy3icbVHLbtQwFPWEVwmvKSzZWMwgsRiN4kqobCq1Kgs2hSJ12krjMHKcm6k1iWPFzvRhvOSP+BnYwofgpFmQtleyfHzuuS/fROVCmyj6NQju3X/w8NHG4/DJ02fPXww3Xx7rsq44zHiZl9VpwjTkQsLMCJPDqaqAFUkOJ8lqv/GfrKHSopRH5lJBXLClFJngzHhqMfw8Hoc0KS8gtfRcpGBEnoKlazBWOfctwnSyQye4Jfb8e0Ho5C4hceF4jMPFcBRNo9bwbUA6MEKdHS42B0DTktcFSMNzpvWcRMrEllVG8BxcSGsNivEVW8LcQ8kK0LFtB3f4rWdSnJWVP9Lglv0/wrJC68si8cqCmTN909eQd/pS3STsVbeNqtKZ7rO1WlYAq36j6Voo3bV6cd1rfxCTfYitkKo2ILnDOKQSznlZFEym7ae6OYktBanrCprC1tLmSjI8Is75bB/Bf1cFB57cy9UZS/wiWom64s5+OSLOtqhwVvhB/GLIzTXcBsdbU/J+Gn3dGu1udyvaQK/RG/QOEbSNdtEndIhmiKOf6Df6g/4GB4EOroLv19Jg0MW8Qj0LfvwDcNnkUA==</latexit>
e 0 = A01 p
p e1
où <latexit sha1_base64="b4aafzJT+xT7AwKcKYFJWH5MvNs=">AAADA3icbVHNbtQwEHbCXwk/3ZZjOVjsgjhUq7iInwtSKzhwQRTUbSutw8pxJrvWxklkO0uL5SO8DDfElQfhHXgInOxKsC0jWR5/8834m5m0LoQ2cfwrCK9cvXb9xsbN6NbtO3c3e1vbx7pqFIcRr4pKnaZMQyFKGBlhCjitFTCZFnCSzl+18ZMFKC2q8sic15BINi1FLjgzHpr0vg4GEV2AsQfuYzwhmO6+pLuYFpCbcURTmIrSSmaUOHNL3ocl7xHuXlX3ogtdMw42HhIuHaVLZuwm1hc0QoLGT5xPIRGFMvtbT4npzCTRYIAnvX48jDvDlx2ycvpoZYeTrQBoVvFGQml4wbQek7g2iWXKCF6AL95o8KLmbApj75bMq0hsNzCHH3okw3ml/CkN7tB/MyyTWp/L1DO92Jm+GGvB/8Yy3RZc+71td6Z0rtfRpp4qgPm60Gwhar2SerbUut6IyV8kVpR1Y6DkDuOIlvCJV1IyP9d26m5MEuunrBsF7cfW0vZKc9wnzvlqr8GPS8FbDx4U9YylflMdpf7MnX13RJztPOms8I34xZCLa7jsHO8NydNh/H6vv/9staINtIMeoMeIoOdoH71Bh2iEOPodbAc7wf3wS/gt/B7+WFLDYJVzD61Z+PMPsYD1Gw==</latexit>
" #
R01 o01 Matrice de transformation
A01 =
01⇥3 1 homogène (4 × 4)
0 3
<latexit sha1_base64="P5nXooiz/fUfgb/Oj61q2yCSG54=">AAACoHicbVFNT9wwEPWmH9D0C9pjLxa7lXpaJYuq9ggqBy4VULGAugkrx5ks1saOZTtbqOUf0F/Dlf6U/ps62Rwa6EiWnt48z7yZyWTJtImiP4Pg0eMnTzc2n4XPX7x89Xpr+82ZrmpFYUqrslIXGdFQMgFTw0wJF1IB4VkJ59nyS5M/X4HSrBKn5kZCyslCsIJRYjw13xqORmGyAmMrN48vI5wwgRNOzFWW2W/ucjccjbBXReOoDfwQxB0Yoi6O59sDSPKK1hyEoSXRehZH0qSWKMNoCS5Mag2S0CVZwMxDQTjo1LbTOPzeMzkuKuWfMLhl//1hCdf6hmde2RjV93MN+d9crpuCve62USld6D5by4UCWPaN5ismdWf1eu21P4gpPqeWCVkbENRhHCYCftCKcyJy2yzZzeLUJiB0raBpbO161QUexs75agfg16Xgqyf3S3lFMn+YViJ/UmePTmNnW8SdZX4Qf5j4/hkegrPJOP44jk4mw71Jd6JN9A7toA8oRp/QHjpEx2iKKPqFbtEd+h3sBIfBUXCylgaD7s9b1Ivg+1+6fdH9</latexit>
2 R et 2 SO(3) , la matrice A01 appartient au groupe spécial

<latexit sha1_base64="c+24XdXOdVX+AZkAf4oDvh+3KEc=">AAACj3icbVFNb9MwGHbDx0b4arcjl4gWiVMVV0LjhDrBAQ4TQ1q3SU2oHOdNZzV2LNvpNiz/Fa7sL+3f4GQ5kI1Xsvzoeb/fJ5Ml0yaObwfBo8dPnu7sPgufv3j56vVwtHeqq1pRWNCqrNR5RjSUTMDCMFPCuVRAeFbCWbb53PjPtqA0q8SJuZaQcrIWrGCUGE+thnuTSZhswdhD9zNe4XAyiVbDcTyNW4seAtyBMerseDUaQJJXtOYgDC2J1kscS5NaogyjJbgwqTVIQjdkDUsPBeGgU9sO76J3nsmjolL+CRO17L8ZlnCtr3nmIzkxF/q+ryH/68t1U7DX3TZRShe6z9ZyrQA2/UHzLZO6G/Xqbtb+Iqb4mFomZG1AUBdFYSLgklacE5Hb5qZuiVObgNC1gqaxtUnzZUU0xs75al/An0vBkScPS3lBMq9DGyJ/UWe/n2BnW8SdZX4RLwy+L8NDcDqb4g/T+MdsPJ91Eu2iN+gteo8wOkBz9BUdowWi6Ar9Rn/QTTAKDoJPwfwuNBh0OfuoZ8G3v39Byw0=</latexit>
R01
<latexit sha1_base64="ME6qcYjfy8uxsGCRxfVgD7bPPS4=">AAACoHicbVHLbtQwFPWER0t4tbBkY3UGqWxGcRGiyyJYdIOmhU5bMQkjx3MztSZ2LNsZWix/AF/DFj6Fv8FJsyAtV7J8dO6571yV3Ngk+TOI7ty9d39j80H88NHjJ0+3tp+dmqrWDKasKit9nlMDJZcwtdyWcK40UJGXcJav3jf+szVowyt5Yq8UZIIuJS84ozZQ863haBSna7Duk/+azAlOucSphUvrPk92X7/y8WiEgyoZJ63h24B0YIg6O5pvDyBdVKwWIC0rqTEzkiibOaotZyX4OK0NKMpWdAmzACUVYDLXTuPxy8AscFHp8KTFLftvhKPCmCuRB6Wg9sLc9DXkf30L0yTsVXeNSpvC9NlaLTXAqt/oYs2V6Vq9vO61P4gt9jPHpaotSOYxjlMJ31glBJUL1yzZz0jmUpCm1tAUdi5tvrzAQ+J9yPYBwro0fAzku1Jd0DwcppWo78y7yQnxrkXCOx4GCYchN89wG5zujcmbcXK8Nzwg3Yk20Qu0g3YRQW/RATpER2iKGPqBfqJf6He0Ex1Gk+j4WhoNupjnqGfRl7+ifdF5</latexit>
• Comme o1
euclidien de dimension 3:
SE(3) = R3 ⇥ SO(3)
<latexit sha1_base64="UxOIy6QHm5DFtbPFIwvVYaP5CSQ=">AAACt3icbVHbbtQwEPWGWwmXbuGRF4tdpCJVq6QFcZGQigCJF9QC3bbSOqwcZ7JrbeIY21laLP8LX8MrvPI3OLt5IC0jWTo6czxzZiaVBdcmiv70gitXr12/sXEzvHX7zt3N/ta9Y13VisGYVUWlTlOqoeACxoabAk6lAlqmBZykizdN/mQJSvNKHJlzCUlJZ4LnnFHjqWn/5XAYEgNnxn5+t7332GGy84rsYFJSM09T+8l92cPE8BI0bmUHjSwcDvG0P4hG0SrwZRC3YIDaOJxu9YBkFatLEIYVVOtJHEmTWKoMZwW4kNQaJGULOoOJh4L6toldDenwI89kOK+Uf8LgFfvvD0tLrc/L1Csb8/piriH/m8t0U7DT3TYqpXPdZWs5UwCLrtFsyaVurZ6tvXYHMfnzxHIhawOCOYxDIuAbq8qSisySJRg3iRNLQOhaQdPY2vX6czyInfPV3oJfl4IPnnxdyDlNwawl8jtz9uAodnaFSme5H8QfJr54hsvgeHcUPx1FH3cH+0/aE22gB+gh2kYxeob20Xt0iMaIoR/oJ/qFfgcvgmmQB/O1NOi1f+6jTgRf/wJOFNoB</latexit>
• La pose du repère 1 par rapport au repère 0 est définie par le couple:
o01 , R01
<latexit sha1_base64="xIAFaRkg1lGWbIwiLIullEiBy3A=">AAACp3icbVHNbtQwEPam/JTwt4Ujl4hdpBZVq7hS1R6L4MAFtaDudqVNWDnOZGtt7Fi2s9Bafgeehiu8Bm+Dk+ZAWkay/M03/zOZLJk2cfxnEGzdu//g4faj8PGTp8+eD3dezHRVKwpTWpWVmmdEQ8kETA0zJcylAsKzEi6y9fvGfrEBpVklzs2VhJSTlWAFo8R4ajl8Ox6HScZWu8kGjK3c13iJ95P9VvvSao11LxyPo+VwFE/iVqK7AHdghDo5W+4MIMkrWnMQhpZE6wWOpUktUYbRElyY1BokoWuygoWHgnDQqW2HctEbz+RRUSn/hIla9t8IS7jWVzzznpyYS33b1pD/teW6SdirbhsvpQvdZ2u5UgDrfqP5hkndtfr9ptf+IKY4Ti0TsjYgqIuiMBHwjVacE5HbZrFugVObgNC1gqawtUnzZUU0ws75bB/Ar0vBJ0++K+UlyfwxWhd5TZ09PcfOtog7y/wg/jD49hnugtnBBB9O4s8Ho5PD7kTb6BV6jXYRRkfoBH1EZ2iKKPqBfqJf6HewF5wGs2B+4xoMupiXqCcB+QuFcNRi</latexit>
Nous avons 6 paramètres au total: 3 définissant la translation et 3 définissant

la rotation (par ex. les angles de roulis-tangage-lacet)
• Par la suite, on utilisera les lettres A ou T pour indiquer une matrice homogène
<latexit sha1_base64="cjCUKweglNwFdSHxb1hUC/2NJb4=">AAACiXicbVHLTtwwFPWEPiD0wWPZTdQZpK5G8UioqCsQXbBBBYkBpElAjnMzWBM7lu0MUMv/wbb9q/5NnZAFAa5k+ejc9z2ZLJk2cfxvEKy8efvu/epauP7h46fPG5tb57qqFYUprcpKXWZEQ8kETA0zJVxKBYRnJVxki8PGf7EEpVklzsy9hJSTuWAFo8R46mo0CpMlGHvgwtEout4YxuO4teglwB0Yos5OrjcHkOQVrTkIQ0ui9QzH0qSWKMNoCS5Mag2S0AWZw8xDQTjo1LZju2jHM3lUVMo/YaKWfZphCdf6nmc+khNzo5/7GvJVX66bgr3utolSutB9tpZzBbDoD5ovmdTdqHePs/YXMcVeapmQtQFBXRSFiYBbWnFORG6be7oZTm0CQtcKmsbWJs2XFdEQO+er/QR/LgXHnjwo5Q3JvAZtiPxNnf11hp1tEXeW+UW8MPi5DC/B+WSMd8fx6WS4P+kkWkVf0Ff0DWH0He2jI3SCpogihR7QH/Q3WA9wsBf8eAwNBl3ONupZcPgf9LrJlg==</latexit> <latexit sha1_base64="nAFNirX5BjQFNKkfPVHnt+qdgI0=">AAACiXicbVHLTtwwFPWktIXQFmiX3UTMVOpqFI+EQKxAdNFNVZBmAGmSIse5GayJHct2plDL/9Ft+1f8DU7IggBXsnx07vueTJZMmzi+GwSv1l6/ebu+EW6+e/9ha3vn47muakVhRquyUpcZ0VAyATPDTAmXUgHhWQkX2fKk8V+sQGlWiam5lZByshCsYJQYT/0ajcJkBcZOXTgaRVfbw3gctxY9B7gDQ9TZ6dXOAJK8ojUHYWhJtJ7jWJrUEmUYLcGFSa1BErokC5h7KAgHndp2bBd98UweFZXyT5ioZR9nWMK1vuWZj+TEXOunvoZ80ZfrpmCvu22ilC50n63lQgEs+4PmKyZ1N+rNw6z9RUxxkFomZG1AUBdFYSLgN604JyK3zT3dHKc2AaFrBU1ja5Pmy4poiJ3z1b6BP5eCH548LuU1ybwGbYj8Q539OcXOtog7y/wiXhj8VIbn4Hwyxnvj+GwyPJp0Eq2jz2gXfUUY7aMj9B2dohmiSKG/6B/6H2wGODgIDh9Cg0GX8wn1LDi5Bxzwyak=</latexit>
9
Matrices homogènes z0 z1
Exemple 1 (Rotation pure autour de l’axe

<latexit sha1_base64="vCpCI+SH5LMCZcJ6t4VdldryrOU=">AAAChHicbVHJTuQwEHWHPbOwzJFLRDfSHFArYRGcEIg5cEEwEs2iToQcp9JYHTuW7TSL5a+Y68yHzd/gdOcwgSnJ8tOrV1XPrlQUVOkw/Nvx5uYXFpeWV/xPn798XV1b37hRZSUJDEhZlPIuxQoKymGgqS7gTkjALC3gNh2f1fnbCUhFS36tXwQkDI84zSnB2lH3vZ7/6vd6gf+w1g374TSCjyBqQBc1cfWw3oE4K0nFgGtSYKWGUSh0YrDUlBRg/bhSIDAZ4xEMHeSYgUrM1LENth2TBXkp3eE6mLL/VhjMlHphqVMyrB/V+1xN/jeXqbpha7qpVVLlqs1WYiQBxm2j2YQK1Vh9nnltP0TnR4mhXFQaOLFB4MccnkjJGOaZiSeg7TBKTAxcVRLqwcbE9ZXmQTey1nX7Ae67JFw48rQQjzgFPZOIV2LN5XVkzRQxa6h7iFtM9H4NH8HNbj866Ic/d7sn+82KltEm2kLfUYQO0Qk6R1dogAhi6Bf6jf54i96Ot+cdzKRep6n5hlrhHb8BLVrHBg==</latexit>
z) ↵
<latexit sha1_base64="PWZO5UOSabviFskVD5UPFdyfFk0=">AAACiXicbVHLTtwwFPWEttBAWx5LNlFnKrEaxUgI1BUIFmwQVGIAaZIix7kZrIkdy3aGh+X/YNv+FX+DM5NFA72S5aNzz31nsmTaxPFLL1j68PHT8srncHXty9dv6xubV7qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJVxn0+PGfz0DpVklLs2jhJSTiWAFo8R46vdgECaklHckHAyi8Ha9Hw/juUXvAW5BH7V2cbvRgySvaM1BGFoSrcc4lia1RBlGS3BhUmuQhE7JBMYeCsJBp3betot+eCaPikr5J0w0Z/+NsIRr/cgzr+TE3Om3vob8ry/XTcJOdduolC50l63lRAFMu43mMyZ12+rDotfuIKY4SC0TsjYgqIuiMBFwTyvOichtMgPjxji1CQhdK2gKW5s0X1ZEfeycz3YCfl0Kzjx51Kw/A7OQyCfq7PkldnaOuLPMD+IPg9+e4T242h3ivWH8a7d/uNeeaAVto+9oB2G0jw7RKbpAI0SRQs/oD/obrAY4OAh+LqRBr43ZQh0Ljl8B+F3JIQ==</latexit>
y1
<latexit sha1_base64="H4NQxvm/Rit7R0LWPaC90vi6584=">AAADFXicbVFLb9NAEF6bVzGPpnDksiIBFSlE3paqXJBawYELoqCmrZQ11nozTlbxS7vr0Ha1vwP+DDfElTN/BrF2wiMtI1n+9M03s9/MJFUmlA7DH55/5eq16zfWbga3bt+5u97ZuHekylpyGPIyK+VJwhRkooChFjqDk0oCy5MMjpPZyyZ/PAepRFkc6rMKopxNCpEKzrSj4s7nXi+gc9Bm334IY4Jp/wXtY5pBqke0H9AEJqIwOdNSnNqF8r2Nzzcpy6ope4If45YLbWy2MdUiB4WJpXNVMQ4mHBCeW0qDPyLyW7RtXS0JKBTjv+2lmEx1FPR6OIg73XAQtoEvA7IEXbSMg3jDAzoueZ1DoXnGlBqRsNKRYVILnoHrXitwrmZsAiMHC+ZsRKZdocWPHDPGaSndV2jcsv9WGJYrdZYnTuncTtXFXEP+NzdWTcOV15t5p1KlapWtq4kEmK0aHc9FpZZWTxdeVwfR6fPIiKKqNRTcYhzQAj7yMs+ZW2yzdjsikXFrVrWE5mFjaPNLUtwl1rpur8CtS8IbR+43R03cqVpJdc6teXtIrGlRbo1wg7jDkItnuAyOtgZkZxC+2+ruPVueaA09QA/RJiJoF+2h1+gADRFHP72e99Qb+J/8L/5X/9tC6nvLmvtoJfzvvwCvh/vp</latexit>
" # O0 y0
Rz (↵) 03⇥1 O1
A01 = z1
01⇥3 1
x0 x1
O1 y1
Exemple 2 (Translation simple)
" # z0
z1
<latexit sha1_base64="8NNfWQatxJ1yvnFpxfnCoeuTshM=">AAADBHicbVFNj9MwEHXC1xK+uuwRkCxaEIeqindBcEHaFRzggFik/ZLqEDnupLWaOJHtlF0sX+HPcENc+R/8CP4DTloJustIUZ7ezDy/mcnqQmgTx7+C8NLlK1evbVyPbty8dftOb/Puka4axeGQV0WlTjKmoRASDo0wBZzUCliZFXCczV+1+eMFKC0qeWDOakhKNpUiF5wZT6W9r4NBRBdg7J77GKcE0+FLOsS0gNyM6TCiGUyFtCUzSpy6ZeVbl+7gx7jDVddFF7pmHGw8Irx0lC7rYpdaL2hECRrvON9CIgpy8ldNienMJNFggKO0149HcRf4IiAr0Eer2E83A6CTijclSMMLpvWYxLVJLFNG8AK8eqPBu5qzKYw9lMzbSGy3MYcfeWaC80r5Txrcsf92WFZqfVZmvtK7nenzuZb8b26iW8G119t5Z0rnep1t6qkCmK8bnSxErVdWT5de1wcx+YvEClk3BiR3GEdUwidelSXzi23X7sYksX7NulHQPmwtbX9ZjvvEOa/2Gvy6FLzz5F5Rz1jmT9WV1J+5s+8PiLMdKp0VfhB/GHL+DBfB0faIPBvFH7b7u09XJ9pA99BD9AQR9BztojdoHx0ijn4HW8H94EH4JfwWfg9/LEvDYNWzhdYi/PkH9Ij1IA==</latexit>
I3 o01 x1
o01
<latexit sha1_base64="XZVWcMDfpzTN6ofKBWYePtigGP8=">AAACkHicbVFdb9MwFHXDgC0M6LbHvURrJ+2piish9sYmeEBIiCGt26QmqxznprMaO5btFIrl38Ir/CT+DU6WB7JxJctH537fk8mSaRPHfwbBk62nz55v74Qvdl++ej3c27/SVa0ozGhVVuomIxpKJmBmmCnhRiogPCvhOlu9b/zXa1CaVeLSbCSknCwFKxglxlOL4cF4HCZrMLZyt/ECh+NxFC6Go3gStxY9BrgDI9TZxWJvAEle0ZqDMLQkWs9xLE1qiTKMluDCpNYgCV2RJcw9FISDTm07vYuOPZNHRaX8EyZq2X8zLOFab3jmIzkxd/qhryH/68t1U7DX3TZRShe6z9ZyqQBW/UHzNZO6G/X7/az9RUxxmlomZG1AUBdFYSLgG604JyK3zVHdHKc2AaFrBU1ja5Pmy4pohJ3z1T6AP5eCz548L+UdybwQbYj8QZ39comdbRF3lvlFvDD4oQyPwdV0gt9M4q/T0dm0k2gbHaIjdIIweovO0Ed0gWaIog36iX6h38F+cBq8C87vQ4NBl3OAehZ8+gsg28tP</latexit>
A01 =
01⇥3 1
y1
O0 O1
y0 z0
Exemple 3 (Rotation et translation) x0 ↵
<latexit sha1_base64="PWZO5UOSabviFskVD5UPFdyfFk0=">AAACiXicbVHLTtwwFPWEttBAWx5LNlFnKrEaxUgI1BUIFmwQVGIAaZIix7kZrIkdy3aGh+X/YNv+FX+DM5NFA72S5aNzz31nsmTaxPFLL1j68PHT8srncHXty9dv6xubV7qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJVxn0+PGfz0DpVklLs2jhJSTiWAFo8R46vdgECaklHckHAyi8Ha9Hw/juUXvAW5BH7V2cbvRgySvaM1BGFoSrcc4lia1RBlGS3BhUmuQhE7JBMYeCsJBp3betot+eCaPikr5J0w0Z/+NsIRr/cgzr+TE3Om3vob8ry/XTcJOdduolC50l63lRAFMu43mMyZ12+rDotfuIKY4SC0TsjYgqIuiMBFwTyvOichtMgPjxji1CQhdK2gKW5s0X1ZEfeycz3YCfl0Kzjx51Kw/A7OQyCfq7PkldnaOuLPMD+IPg9+e4T242h3ivWH8a7d/uNeeaAVto+9oB2G0jw7RKbpAI0SRQs/oD/obrAY4OAh+LqRBr43ZQh0Ljl8B+F3JIQ==</latexit>
<latexit sha1_base64="HyqWLHXDGSzMBEQjFzvKzMIbnBE=">AAADDHicbVFNb9QwEHXCVwkf3cKxF4vdoiKtVnEBwQWpFRy4IArqtpXWIXKcya61+ZLtLG0t/wX4M9wQV/4DP4Q7TnYl2JaRojy9mXl+M5PUuVA6DH95/rXrN27e2rgd3Ll77/5mb+vBsaoayWHMq7ySpwlTkIsSxlroHE5rCaxIcjhJ5q/b/MkCpBJVeaTPa4gKNi1FJjjTjop7XweDgC5AmwP7KYwJpsNXdIhpDpme0GFAE5iK0hRMS3Fml5UfbXyxS1lez9gT/Bh3XNV104WqGQcTjggvLKXL+tDGxglrUYDCT61rIQGFMv2rKsV0pqNgMMBB3OuHo7ALfBWQFeijVRzGWx7QtOJNAaXmOVNqQsJaR4ZJLXgOTr1R4FzN2RQmDpbM2YhMtzmLdxyT4qyS7is17th/OwwrlDovElfp3M7U5VxL/jeXqlZw7fV23plUmVpnm3oqAebrRtOFqNXK6tnS6/ogOnsZGVHWjYaSW4wDWsJnXhUFc4tt124nJDJuzaqR0D5sDG1/SYb7xFqn9gbcuiS8c+RBe8vEnaorqS+4Ne+PiDUdKqwRbhB3GHL5DFfB8d6IPB+FH/b6+89WJ9pA2+gR2kUEvUD76C06RGPE0W9v2xt4O/4X/5v/3f+xLPW9Vc9DtBb+zz8K8vhz</latexit>
" # x1 o01
<latexit sha1_base64="XZVWcMDfpzTN6ofKBWYePtigGP8=">AAACkHicbVFdb9MwFHXDgC0M6LbHvURrJ+2piish9sYmeEBIiCGt26QmqxznprMaO5btFIrl38Ir/CT+DU6WB7JxJctH537fk8mSaRPHfwbBk62nz55v74Qvdl++ej3c27/SVa0ozGhVVuomIxpKJmBmmCnhRiogPCvhOlu9b/zXa1CaVeLSbCSknCwFKxglxlOL4cF4HCZrMLZyt/ECh+NxFC6Go3gStxY9BrgDI9TZxWJvAEle0ZqDMLQkWs9xLE1qiTKMluDCpNYgCV2RJcw9FISDTm07vYuOPZNHRaX8EyZq2X8zLOFab3jmIzkxd/qhryH/68t1U7DX3TZRShe6z9ZyqQBW/UHzNZO6G/X7/az9RUxxmlomZG1AUBdFYSLgG604JyK3zVHdHKc2AaFrBU1ja5Pmy4pohJ3z1T6AP5eCz548L+UdybwQbYj8QZ39comdbRF3lvlFvDD4oQyPwdV0gt9M4q/T0dm0k2gbHaIjdIIweovO0Ed0gWaIog36iX6h38F+cBq8C87vQ4NBl3OAehZ8+gsg28tP</latexit>
Rz (↵) o01
A01 = y0
01⇥3 1 O0
x0
10
Matrices homogènes
• La transformation d’un vecteur du repère 1 au repère 0 est exprimée par
une seule matrice qui contient la matrice de rotation du repère 1 par rapport
au repère 0 et le vecteur de translation de l’origine du repère 0 à l’origine
du repère 1:
e 0 = A01 p
e1
<latexit sha1_base64="0+4An8tE3DvbuXs1RY+v7VoZyZw=">AAACwnicbVHLbtQwFPWEVwmvKSzZRMwgsRiN4kqobCq1okhsEEXqtJUmYeQ4N1N3Yse1nSnF+Iv4GpbAz+CkWZC2V7J8fO65L99MlkybOP49CO7cvXf/wcbD8NHjJ0+fDTefH+mqVhRmtCordZIRDSUTMDPMlHAiFRCelXCcrd43/uM1KM0qcWguJaScLAUrGCXGU4vhh/E4TC5YDoaVOdhkDcZK577GUTLZSSZRS+z59wInk9uEOArH48VwFE/j1qKbAHdghDo7WGwOIMkrWnMQhpZE6zmOpUktUYbRElyY1BokoSuyhLmHgnDQqW3nddFrz+RRUSl/hIla9v8IS7jWlzzzSk7Mqb7ua8hbfbluEvaq20aldKH7bC2XCmDVbzRfM6m7Vr9d9dofxBTvUsuErA0I6qIoTARc0IpzIvL2S90cpzYBoWsFTWFrk+bKimiEnfPZ9sF/l4JPntwr5SnJ/BpaifxOnf18iJ1tEXeW+UH8YvD1NdwER1tT/HYaf9ka7W53K9pAL9Er9AZhtI120Ud0gGaIop/oF/qD/gb7wVlwHugraTDoYl6gngU//gHjdeCG</latexit>
p
• La transformation inverse entre le repère 0 et le repère 1 est décrite
0
<latexit sha1_base64="fZrtOcw2+5aG+C76+Ff4eSHNoSo=">AAACkHicbVFba9swFFa8W+ddmraPezFLBnsKVmCsb21oH8ZgrIOmLcRekOXjVMSShSRnTYV+y163n7R/M9n1w9zugNDHd+7ny2TJtInjP4Pg0eMnT5/tPA9fvHz1ene4t3+hq1pRmNOqrNRVRjSUTMDcMFPClVRAeFbCZbY+afyXG1CaVeLcbCWknKwEKxglxlPL4cF4HCYbMHbmvsdLHI7HUbgcjuJJ3Fr0EOAOjFBnZ8u9ASR5RWsOwtCSaL3AsTSpJcowWoILk1qDJHRNVrDwUBAOOrXt9C5655k8KirlnzBRy/6bYQnXesszH8mJudb3fQ35X1+um4K97raJUrrQfbaWKwWw7g+ab5jU3ag3d7P2FzHFYWqZkLUBQV0UhYmAH7TinIjcNkd1C5zaBISuFTSNrU2aLyuiEXbOVzsFfy4FXzw5K+U1ybwQbYi8pc5+PcfOtog7y/wiXhh8X4aH4GI6wR8m8bfp6HjaSbSD3qC36D3C6CM6Rp/QGZojirboJ/qFfgf7wWFwFMzuQoNBl3OAehZ8/gu+sMsh</latexit>
par la matrice A1 qui vérifie l’équation:
e 1 = A10 p
e 0 = (A01 ) 1
e0
<latexit sha1_base64="Um7Cw091cTOYRLC7izfb1HpOi9s=">AAAC83icdVFNb9QwEHXCV0kL3cKRS8QuUpGWVVwJ6KVSKzhwQRSp21bapJHjzG6tjR0rdrYUy7+EG+LKD0Lix+CkQSJtGcny85s3H57JZMGUjqJfnn/n7r37D9YeBusbjx5vDraeHKuyrihMaVmU1WlGFBRMwFQzXcCprIDwrICTbPmu8Z+soFKsFEf6UkLCyUKwOaNEOyodrEajIL5gOWhW5GDiFWgjrT3DYTzei8dhSxy4dxrF49uEUSfc/quMUvzyzLzC9j/6YDQKg3QwjCZRa+FNgDswRJ0dplsexHlJaw5C04IoNcOR1IkhlWa0ABvEtQJJ6JIsYOagIBxUYtoB2fCFY/JwXlbuCB227L8RhnClLnnmlJzoc3Xd15C3+nLVJOxVN42qUnPVZ2u5qACW/UbzFZOqa/XLVa/9j+j5bmKYkLUGQW0YBrGAC1pyTkTeztTOcGJiEKquoClsTNxc2TwcYmtdtvfgxlXBR0ceFPKcZG4PrUR+pdZ8OsLWtIhbw9xH3GLw9TXcBMc7E/x6En3eGe6/6Va0hp6h52gbYfQW7aMP6BBNEUW/Pd9b9zb82v/mf/d/XEl9r4t5inrm//wDRA7wSA==</latexit>
p p
• En utilisant les propriétés des matrices partitionnées*, on trouve que:
<latexit sha1_base64="4DghD0ftSXV8EAgfK0W3Wbn670U=">AAADqXicrVHNbhMxEPZ2+SnLXwtHLhYJqKhptC6q4ILUCg5cEC1K24h4G3md2cTK/sn2hhbLL8HTcIW34G3wbhfUpBwZabUz33ye+WYmLlOhdBj+8tb8Gzdv3V6/E9y9d//Bw43NRyeqqCSHY16khRzGTEEqcjjWQqcwLCWwLE7hNJ6/rfOnC5BKFPlAX5QQZWyai0Rwph003vS2u91giy5AmwN7Fo7JizOzQyymvTe0h2kKiR4FNIapyE3GtBTntqV/aukD/BzvrEBNVDQRXaiScTBhn/DMUho0udCODcFUiwwUfmldCRJQyCd/e9AelWI609GSEtpb1fKnLxmHtY4roavwH1UE3S4OxhudsB82hq87pHU6qLVDt16gk4JXGeSap0ypEQlLHRkmteApuAaVAidszqYwcm7OnJLINGe1+JlDJjgppPtyjRv06gvDMqUustgxneCZWs3V4D9zE1UXXOpejzyTKlHLaFVOJcB8WehkIUrVSj2/1Lo8iE5eR0bkZaUh5xbjgObwhRdZxtxu683bEYmM27SqJNSNjaH1L05wh1jrqr0Dty4JHxx4kJYzFrtrNZTyK7fm44BY03iZNcIN4g5DVs9w3TnZ7ZO9fni029nfa0+0jp6gp2gLEfQK7aP36BAdI+598757P7yf/rZ/5A/9z5fUNa998xgtmc9/A8DvLAA=</latexit>
" # " #
(R01 )T (R01 )T o01 R10 R10 o01
(A01 ) 1
= =
01⇥3 1 01⇥3 1
*Remarque:
<latexit sha1_base64="t+BqHMkxQwPy/NRYQpG4J/xnmZc=">AAADFHicbVHLbtNAFB2bVzGvFJZsRiQgFiGyKyG6qdTSLthUFNS0lTImGk+uk1E8Y2tmHFpG8xvwM+wQW/Z8DBJjJwLSciVLx+ee+5h7sqrg2sTxzyC8dv3GzVsbt6M7d+/df9DZfHiiy1oxGLKyKNVZRjUUXMLQcFPAWaWAiqyA02y+3+RPF6A0L+WxuaggFXQqec4ZNZ4ad770ehFZgLGHDpP+DuljUkBuRqQfkQymXFpBjeLnbqnac/gZbtFrRxa6ogxsPEiYcIQsFft/FAe+BuTkb4M+UXw6MykmXGLi6VmW2ffugxX+13ABGgvpcNTr4Wjc6caDuA18FSQr0EWrOBpvBkAmJasFSMMKqvUoiSuTWqoMZwX48bUGv++cTmHkoaR+XmrbCzr81DMTnJfKf9Lglv23wlKh9YXIvLLZW1/ONeR/cxPdNFyb3hxkpnSu19m6miqA+fqikwWv9GrV8+Wu6w8x+XZquaxqA5I5jCMi4SMrhaD+8o0NbpSk1vugawXNYGuXl89xN3HOdzsAfy4Fh57cK6oZzbx1raT6xJx9e5w42yLhLPcP8cYkl224Ck62BsnLQfxuq7s7WFm0gR6jJ+g5StArtIveoCM0RAz9CrpBP3gRfg6/ht/C70tpGKxqHqG1CH/8BjIM/Qw=</latexit>
" # <latexit sha1_base64="6Fl+uQ4zGgfNGZCxYJ1dvk4ZEfk=">AAADtniclVHLbtNAFB3XPIp5tIUlmxEJKJWSyK6EiISQ+lqwqShS01bKpNV4cu2M4pdmxqFlNN/C17CFNX/D2DGPtNn0StYcn3vuOywSLpXv/3LW3Hv3Hzxcf+Q9fvL02cbm1vNTmZeCwZDlSS7OQyoh4RkMFVcJnBcCaBomcBbODir/2RyE5Hl2oq4LGKc0znjEGVWWutxyBu221yXvyRyUPjIXuhcYTLofSBeTBCI1Il2PhBDzTKdUCX5lvE6t3TO4h2u0b+rncBFc4wOzvcj0Bvca9T/nvuk0AX8yHJgVou3mRxaUgfb7AUsNIV5vRbG7dXSH6h6BbPJ3cNIlgsdTNfbabexdbrb8vl8bvg2CBrRQY8d210AmOStTyBRLqJSjwC/UWFOhOEvA5i8l2GFnNIaRhRlNQY51fWODX1tmgqNc2C9TuGb/j9A0lfI6Da3S9juVN30VudI3kVXCperVxFMhI7nMlkUsAGbLjU7mvJBNq1eLXpcHUdFgrHlWlAoyZjD2SAZfWJ6m1K622rYZBWNtFy1LAVVhrUn1hBFuBcbYbIdg1yXgyJJ7STGlob1QLSm+MqM/nQRG1yg1mttB7GGCm2e4DU53+sHbvv95p7Xbb060jl6iV6iDAvQO7aKP6BgNEXO+Od+dH85Pd+BeuODGC+ma08S8QEvmFr8BWh82Lg==</latexit>
" #
1 1 1 1 1
A B 1 (A BD C) A B(D CA B)
Si M = 2 Rmn⇥mn , M =
C D D 1 C(A BD 1 C) 1
(D CA 1 B) 1
m⇥m
où A 2 R , D 2 Rn⇥n sont deux matrices inversibles
<latexit sha1_base64="EY7Enkd+thH4iq+Rauimll5EFZs=">AAACznicbVFNb9QwEPWGj5bwtYUjF4tdJA5olVRCIPXSih64ILao21bahJXjTLbWxo5lOwvFsrjyj/gtHLjC38DJBol0GcnS05vnmTczmSyZNlH0YxDcuHnr9s7unfDuvfsPHg73Hp3pqlYUZrQqK3WREQ0lEzAzzJRwIRUQnpVwnq3eNPnzNSjNKnFqriSknCwFKxglxlOL4cl4HCZrMPbI4YQJnHBiLrPMfnAfLceJYRw05u5FctCqjrdV4q9KuHA8xuFiOIomURt4G8QdGKEupou9ASR5RWsOwtCSaD2PI2lSS5RhtAQXJrUGSeiKLGHuoSC+W2rb2R1+5pkcF5XyTxjcsv/+sIRrfcUzr2xM6+u5hvxvLtdNwV5326iULnSfreVSAaz6RvM1k7qz+nnjtT+IKV6nlglZGxDUYRwmAj7RinMictss283j1CYgdK2gaWztZu0FHsXO+WrH4Nel4J0nj0p5STJ/oFYiv1Bn35/GzraIO8v8IP4w8fUzbIOz/Un8chKd7I8O4+5Eu+gJeoqeoxi9QofoLZqiGaLoO/qJfqHfwTRYBy74upEGg+7PY9SL4NsfZZ3lBA==</latexit>
11
Matrices homogènes
Attention: les matrices homogènes ne satisfont pas la propriété
d’orthogonalité. En conséquence, en général:
<latexit sha1_base64="3q+9KQ7wvVDO46uR8Uhqa5F6Nx8=">AAACrHicbVHLbtQwFPWER0t4TWHJxmIGiUUZkkpAl61gwQZRpJm20iSMHOdmak3suLYzbbH8GXwNW/gI/gYnEyTSciXLR+e+z81kybSJot+D4NbtO3e3tu+F9x88fPR4uPPkWFe1ojCjVVmp04xoKJmAmWGmhFOpgPCshJNs9b7xn6xBaVaJqbmSkHKyFKxglBhPLYavx+MwyapLyG2yBmMP3dcpTnYTAefJLv5L2Vexc+F4jMPFcBRNotbwTRB3YIQ6O1rsDCDJK1pzEIaWROt5HEmTWqIMoyW4MKk1SEJXZAlzDwXhoFPbbubwC8/kuKiUf8Lglv03wxKu9RXPfCQn5kxf9zXkf325bgr2utsmSulC99laLhXAqj9ovmZSd6NebmbtL2KK/dQyIWsDgjqMQ6/oBa04J2KjtJvHqU1A6FpB09japPmyAo+81r7aB/ByKfjkycNSnpHMn6INkd+os5+nsbMt4s4yv4g/THz9DDfB8d4kfjOJvuyNDt52J9pGz9Bz9BLF6B06QB/REZohir6jH+gn+hVMgmkwD9JNaDDocp6ingXFHyX31r8=</latexit>
AT 6= A 1
En conclusion:
• Une matrice homogène permet d’exprimer la transformation
de coordonnées entre deux repères génériques sous forme compacte
• Si les repères ont la même origine, la matrice homogène se réduit

à la matrice de rotation (4 × 4) définie précédemment (voir l’Exemple 1)
• Comme pour les matrices de rotation, on peut composer une séquence

de transformations de coordonnées grâce au produit matriciel:
e 0 = A01 A12 · · · Ann 1

en
<latexit sha1_base64="MacM5HZaWu2lzbSV7Pb28o2Azy4=">AAAC63icbVFLb9QwEHbSAm14dAtHLha7SByWVbwSjwtSKzhwQRSp21bahMhxZrfWxo4VO1uK5V/BDXHlH/XCX+GEky6CbTuS5W++ec/kquTaxPGvINzYvHX7ztZ2dPfe/Qc7vd2HR7pqagYTVpVVfZJTDSWXMDHclHCiaqAiL+E4X7xt7cdLqDWv5KE5V5AKOpd8xhk1nsp6cjCIkjNegOFlATZZgrHKuc8xToZvkiHuiH2vZyQZ/lVINvYKKyqj/5FWPicuk23MDfkkjgYDHGW9fjyKO8HXAVmBPlrJQbYbQFJUrBEgDSup1lMSK5NaWhvOSnBR0mhQlC3oHKYeSipAp7ZbjMNPPVPgWVX7Jw3u2P8jLBVan4vcewpqTvVVW0veaCt0m3Ctum29aj3T62yj5jXAYr3RYsmVXrX65bLX9UHM7HVquVSNAckcxlEi4YxVQlBZdEt1U5LaBKRuamgLW5u0Xz7DfeKcz/YO/Lpq+ODJ/VKd0twfonNRX5mzHw+Jsx0SznI/iD8MuXqG6+BoPCIvRvGncX/v5epEW+gxeoKeIYJeoT30Hh2gCWLoAv0ONoLNUITfwu/hj0vXMFjFPEJrEv78A/eH7pA=</latexit>
p p
Aii 1
<latexit sha1_base64="LXAVGpvMjcKFlCacroB2otZaWIo=">AAAClXicbVHLbtQwFPWEVwmPTmEBEpuIGSQ2jOKRULtBakWFukEtUqetNAkjx7mZWhM7lu0MbS3zNWzhf/ibOmkWpOVKlo/OPfedyZJpE8d/B8G9+w8ePtp4HD55+uz55nDrxYmuakVhRquyUmcZ0VAyATPDTAlnUgHhWQmn2epz4z9dg9KsEsfmUkLKyVKwglFiPLUYvh6Pw2QNxu6575Z9wG7BonA8jsLFcBRP4taiuwB3YIQ6O1psDSDJK1pzEIaWROs5jqVJLVGG0RJcmNQaJKErsoS5h4Jw0KltR3DRO8/kUVEp/4SJWvbfCEu41pc880pOzLm+7WvI//py3STsVbeNSulC99laLhXAqt9ovmZSd61e3PTaH8QUO6llQtYGBHVRFCYCftCKcyJy22zWzXFqExC6VtAUtjZpvqyIRtg5n20f/LoUfPXkXinPSeav0UrkFXX28Bg72yLuLPOD+MPg22e4C06mE/xxEn+bjnan3Yk20Bv0Fr1HGG2jXXSAjtAMUfQT/UK/0Z/gVfAp2A++3EiDQRfzEvUsOLwGnBzNOg==</latexit>
où est la matrice de transformation qui met en relation

la description d’un point dans le repère i avec la
<latexit sha1_base64="arDcB732VEDzoV6kmqFnW9fMveU=">AAAChXicbVFNT9wwEPWmH0D6Be2Ri9XdSr10lawocAPUHnpBUIkF1E2EHGeyWBs7lu0sH5b/BVf6v/pvcHZzINCRLD+9eTPz7MlkybSJon+94MXLV69XVtfCN2/fvf+wvvHxVFe1ojCmVVmp84xoKJmAsWGmhHOpgPCshLNs9qPJn81BaVaJE3MjIeVkKljBKDGe+jMYhAyHgwEOL9b70TBaBH4O4hb0URvHFxs9SPKK1hyEoSXRehJH0qSWKMNoCS5Mag2S0BmZwsRDQTjo1C4sO/zFMzkuKuWPMHjBPq6whGt9wzOv5MRc6qe5hvxvLtdNw85026iULnSXreVUAcy6RvM5k7q1er302n2IKXZTy4SsDQjqMA4TAVe04pyI3CZzMG4SpzYBoWsFzWBrk+bKCtyPnfPdfoL/LgWHnjwo5SXJwCwl8pY6e3QSO7tA3FnmH+IXEz9dw3NwOhrG34fR71F/f9SuaBVtos/oK4rRDtpHv9AxGiOKBLpD9+hvsBJ8C7aC7aU06LU1n1Angr0HcrbHHQ==</latexit>
description du même point dans le repère i 1

<latexit sha1_base64="xII5TayVHQeCm1hDY8nyFg6yss8=">AAACh3icbVHBbtQwEPWGAm0otKVHLha7SL2wxCu19NiKHrggitRtK22iynEmW2tjx7KdhWL5N7jCb/E3OLs5kLYjWX5682bm2ZOrihubJH8H0ZONp8+eb27FL7ZfvtrZ3Xt9aepGM5iyuqr1dU4NVFzC1HJbwbXSQEVewVW++NTmr5agDa/lhb1TkAk6l7zkjNpApaNRzN8THI9GOL7ZHSbjZBX4ISAdGKIuzm/2BpAWNWsESMsqasyMJMpmjmrLWQU+ThsDirIFncMsQEkFmMytTHv8LjAFLmsdjrR4xf5f4agw5k7kQSmovTX3cy35aK4wbcPedNeqtClNn23UXAMs+kaLJVems/pj7bX/EFseZ45L1ViQzGMcpxK+s1oIKguXLsH6GclcCtI0GtrBzqXtlZd4SLwP3c4gfJeGL4E8rdQtzcGuJeon8+7rBfFuhYR3PDwkLIbcX8NDcDkZk8Nx8m0yPJl0K9pEb9BbdIAI+ohO0Gd0jqaIIYV+od/oT7QVfYiOouO1NBp0NfuoF9HpP4aCx48=</latexit>
12
Plan du cours
Chapitre 1 : Introduction
1.1 Définitions
1.2 Constituants d’un robot
1.3 Classification des robots
1.4 Caractéristiques d’un robot
1.5 Générations de robots
1.6 Programmation des robots
1.7 Utilisation des robots
Chapitre 2 : Fondements Théoriques
2.1 Pose d’un corps rigide

• Matrices de rotation et autres représentations de l’orientation
• Transformations homogènes
13
Plan du cours
2.2 Cinématique
• Dérivée d’une matrice de rotation
• Vitesse angulaire d’un repère
• Mouvement de corps rigide
• Torseur cinématique
Chapitre 3 : Modélisation d’un Robot
3.1 Modèle géométrique

• Convention de Denavit-Hartenberg
• Modèle géométrique direct
• Modèle géométrique inverse
3.2 Modèle cinématique

• Modèle cinématique direct
• Modèle cinématique inverse
14
Cinématique
• Soit R = R(t) une matrice de rotation variable dans le temps
<latexit sha1_base64="KBDyPziDRxGJQZOoAklwvWKyHv4=">AAACmXicbVHLbtQwFPWER0t4TWFZFhYzSGUzSkZC7aZSq7KokBAFOm2lSTRynJupNbFj2c5Aa3nD17CFv+FvcNIsSMuVLB+de+47kyXTJor+DIJ79x883Nh8FD5+8vTZ8+HWizNd1YrCjFZlpS4yoqFkAmaGmRIupALCsxLOs9VR4z9fg9KsEqfmSkLKyVKwglFiPLUYvhqPw2QNxn5xeB93aMe8DcdjHC6Go2gStYbvgrgDI9TZyWJrAEle0ZqDMLQkWs/jSJrUEmUYLcGFSa1BEroiS5h7KAgHndp2DIffeCbHRaX8Ewa37L8RlnCtr3jmlZyYS33b15D/9eW6SdirbhuV0oXus7VcKoBVv9F8zaTuWv1+02t/EFPspZYJWRsQ1GEcJgK+0YpzInLb7NTN49QmIHStoClsbdJ8WYFHsXM+23vw61Lw0ZOHpbwkmb9DK5HX1NlPp7GzLeLOMj+IP0x8+wx3wdl0Er+bRJ+no4Npd6JNtI1eox0Uo110gI7RCZohin6gn+gX+h1sB4fBcfDhRhoMupiXqGfB17/2cM6l</latexit>
• Grâce à la propriété d’orthogonalité de la matrice R(t) , on a que:

<latexit sha1_base64="5ewLE1/0Y0OlCl10xVcpSTHx38I=">AAACj3icbVFNT9swGHYztrHsgxaOXKK1k9ilSiohOE2dtsN2QIOJAlITVY7zpliNHct2Opjlv7Ir+0v8G5yQAwFeyfKj5/1+n1QUVOkwvO15LzZevnq9+cZ/++79h63+YPtMlZUkMCNlUcqLFCsoKIeZprqACyEBs7SA83T1rfafr0EqWvJTfS0gYXjJaU4J1o5a9LdHIz9egza/7Z7+7I9Ggb/oD8Nx2FjwFEQtGKLWjheDHsRZSSoGXJMCKzWPQqETg6WmpADrx5UCgckKL2HuIMcMVGKa4W3wyTFZkJfSPa6Dhn2YYTBT6pqlLpJhfake+2ryWV+m6oKd7qaOkipXXbYSSwmw6g6aralQ7ahX97N2F9H5YWIoF5UGTmwQ+DGHP6RkDPPM1De18ygxMXBVSagbGxPXX5oHw8haV+07uHNJOHLk10Jc4tTp0ISIv8SaX6eRNQ1i1lC3iBMmeizDU3A2GUf74/BkMpxOWok20S76iPZQhA7QFP1Ax2iGCLpC/9AN+u8NvAPvize9D/V6bc4O6pj38w78ucrP</latexit>
R(t) RT (t) = I3
<latexit sha1_base64="RQTI4LEWEDEtA51oYA4JtqBZgDk=">AAACrnicbVHLjtMwFHXDawivDizZWLRIg1RVyaARbJAGwQIWiAG1nZGaEDnuTWs1dizbKQyWv4OvYQvfwN/gZLIgM1zJ8vG55758c1kybaLozyC4dv3GzVt7t8M7d+/dfzDcf7jQVa0ozGlVVuosJxpKJmBumCnhTCogPC/hNN++afynO1CaVWJmziWknKwFKxglxlPZMB6Pw2QHxn52B+ZZMunwl5l/4WTyKpnglnrvsuc4HI9xmA1H0TRqDV8FcQdGqLOTbH8AyaqiNQdhaEm0XsaRNKklyjBagguTWoMkdEvWsPRQEA46te1sDj/1zAoXlfJHGNyy/0ZYwrU+57lXcmI2+rKvIf/rW+kmYa+6bVRKF7rP1nKtALb9Rlc7JnXX6reLXvuDmOJlapmQtQFBHcZhIuArrTgnYmWbP3XLOLUJCF0raApbmzRXXuBR7JzP9hb8dyn44MnXpdyQ3O+hlcjv1NmPs9jZFnFnmR/ELya+vIarYHE4jY+m0afD0fFRt6I99Bg9QQcoRi/QMXqHTtAcUfQD/US/0O8gChZBGmQX0mDQxTxCPQs2fwERltYn</latexit>
• Si on calcule la derivée par rapport au temps, nous trouvons (rappel la règle

de la derivée d’un produit):
Ṙ(t) RT (t) + R(t) ṘT (t) = 03⇥3

<latexit sha1_base64="cNszLBErpfIQfQ4AWRHmDsa38Ts=">AAAC43icbVHLbtQwFPWEVwmPTmHJxmIGqYjRKGmpygapCBZsEAXNtJXGYeQ4N1NrYieKnYFi+QvYIbb8ET/Ab7CFBU4mSE3LlSwfn3vuw/fGRcaVDoKfPe/K1WvXb2zc9G/dvnN3s79170jlVclgyvIsL09iqiDjEqaa6wxOihKoiDM4jpcva//xCkrFcznRZwVEgi4kTzmj2lHzfjoc+iTJtSEr0Oa9tdv6MRm1jw8T98Jk9ISMcEut3ecDGhEZPf+nCezc7GKiuQCFdy32h0Psz/uDYBw0hi+DsAUD1NrhfKsHrgqrBEjNMqrULAwKHRlaas4ysD6pFBSULekCZg5K6spFphmIxY8ck+A0L92RGjfs+QhDhVJnInZKQfWpuuiryf/6ElUn7FQ3tapUqeqyVbEoAZbdRpMVL1Tb6qd1r92P6PRZZLgsKg2SWYx9IuEjy4WgMmkmbmdhZAhIVZVQFzaG1Fec4kForcv2Cty4SnjjyBdZcUpjt5JGUnxm1rydhNY0SFjD3UfcYsKLa7gMjnbG4d44eLczOHjarmgDPUAP0TYK0T46QK/RIZoihn6gX+g3+uOB98X76n1bS71eG3Mfdcz7/hdQketH</latexit>
• Soit
S(t) , Ṙ(t) RT (t)
<latexit sha1_base64="e359z9hEsUFNxAcrCVi0JSjU56I=">AAACvXicbVFdb9MwFHXD1whfHTzyEtEiDQlVyQQabxTBAy+IAe02qQmV49x0Vm3Hs52OYfnv8Gt4BYl/g5PmgWxcyfLxOcfX9/rmklFt4vjPILh2/cbNWzu3wzt3791/MNx9eKSrWhGYk4pV6iTHGhgVMDfUMDiRCjDPGRzn67eNfrwBpWklZuZCQsbxStCSEmw8tRxOx+Mw3YCxX9yeeRalz1OjKBYrBmceF5WxrfrZNbJntoevs8YcjsdRuByO4kncRnQVJB0YoS4Ol7sD8HlJzUEYwrDWiySWJrNYGUoYuDCtNUhM1ngFCw8F5qAz27bqoqeeKaKyUn4JE7Xsvzcs5lpf8Nw7OTan+rLWkP/VCt0k7L1uG5fSpe6ztVwpgHW/0GJDpe5K/battd+IKV9llgpZGxDERVGYCjgnFedYFO0fu0WS2RSErhU0D1ubNlteRqPEOZ/tHfjvUvDBk2+YPMW5H0Vrkd+Jsx9nibMt4s5S34gfTHJ5DFfB0f4keTmJP+2Ppi+6Ee2gx+gJ2kMJOkBT9B4dojki6Af6iX6h38HrAAIWiK01GHR3HqFeBOd/AWkG3Vo=</latexit>
Elle est une matrice antisymétrique. En effet: S(t) + ST (t) = 03⇥3

<latexit sha1_base64="wV94/erz50vCUjcpiumLkrGjSMQ=">AAACvnicbVFbb9MwFHbDbYRbB4+8WLRIQ1RV0gnBC1IneOAFMUS7TWpC5bgnndXYsWynbFj+PfwaXkH8G5w0D2TjSJY/f+c7PrdMFkybKPrTC27cvHX7zt7d8N79Bw8f9fcfn+iyUhTmtCxKdZYRDQUTMDfMFHAmFRCeFXCabd7V/tMtKM1KMTOXElJO1oLljBLjqWX/aDgMky0Y+8UdmBc4Gb1MRu3762zHvE1GuKEit7SHODGMg8aHDuNwOMThsj+IxlFj+DqIWzBArR0v93uQrEpacRCGFkTrRRxJk1qiDKMFuDCpNEhCN2QNCw8F8flS2/Tq8HPPrHBeKn+EwQ37b4QlXOtLnnklJ+ZcX/XV5H99K11/2Mlua5XSue6ylVwrgE230NWWSd2WerGrtduIyd+klglZGRC0Hl4i4BstOSdiZev5ukWc2gSErhTUia1N6ivL8SB2zv/2Hvy4FHz05FEhz0nmd9JI5Hfq7KdZ7GyDuLPMN+IXE19dw3VwMhnHr8bR58lgOmlXtIeeomfoAMXoNZqiD+gYzRFFP9BP9Av9DqZBHvCg3EmDXhvzBHUsuPgLfn3biQ==</latexit>
• Si on multiplie à droite chaque côté de l’équation précédente par R(t)

<latexit sha1_base64="5ewLE1/0Y0OlCl10xVcpSTHx38I=">AAACj3icbVFNT9swGHYztrHsgxaOXKK1k9ilSiohOE2dtsN2QIOJAlITVY7zpliNHct2Opjlv7Ir+0v8G5yQAwFeyfKj5/1+n1QUVOkwvO15LzZevnq9+cZ/++79h63+YPtMlZUkMCNlUcqLFCsoKIeZprqACyEBs7SA83T1rfafr0EqWvJTfS0gYXjJaU4J1o5a9LdHIz9egza/7Z7+7I9Ggb/oD8Nx2FjwFEQtGKLWjheDHsRZSSoGXJMCKzWPQqETg6WmpADrx5UCgckKL2HuIMcMVGKa4W3wyTFZkJfSPa6Dhn2YYTBT6pqlLpJhfake+2ryWV+m6oKd7qaOkipXXbYSSwmw6g6aralQ7ahX97N2F9H5YWIoF5UGTmwQ+DGHP6RkDPPM1De18ygxMXBVSagbGxPXX5oHw8haV+07uHNJOHLk10Jc4tTp0ISIv8SaX6eRNQ1i1lC3iBMmeizDU3A2GUf74/BkMpxOWok20S76iPZQhA7QFP1Ax2iGCLpC/9AN+u8NvAPvize9D/V6bc4O6pj38w78ucrP</latexit>
on trouve: <latexit sha1_base64="UAMcLZFoNgWKMea3f4zGYsR0awM=">AAACsnicbVHLbtQwFPWEVwmvabtkEzGDVKRqlFSt2k2lIrpggyil01ZMopHj3EytsR3LdgaK5S/ha9jCF/A3OGkWpOVKlo/PPfflm0tGtYnjP4Pg3v0HDx+tPQ6fPH32/MVwfeNcV7UiMCUVq9RljjUwKmBqqGFwKRVgnjO4yJfvGv/FCpSmlTgz1xIyjheClpRg46n5cG88DtOiMjZdgbGnzm2ZN1G6fZhut8Tn5t3h09YXjsdROB+O4kncWnQXJB0Yoc5O5usD8FVIzUEYwrDWsySWJrNYGUoYuDCtNUhMlngBMw8F5qAz287noteeKaKyUv4IE7XsvxEWc62vee6VHJsrfdvXkP/1FbpJ2KtuG5XSpe6ztVwogGW/0WJFpe5a/XbTa38QUx5klgpZGxDERVGYCvhKKs6xKNofd7MksykIXStoClubNldeRqPEOZ/tGPx3KfjgybdMXuHcL6KVyO/E2Y9nibMt4s5SP4hfTHJ7DXfB+c4k2ZvEn3ZGR7vditbQS/QKbaEE7aMj9B6doCki6Af6iX6h38Fu8CXAAbmRBoMuZhP1LGB/ATwn2FQ=</latexit>
Ṙ(t) = S(t) R(t)

Ainsi on a pu écrire la derivée de la matrice de rotation en fonction
de la matrice de rotation elle-même
15
Cinématique <latexit sha1_base64="6mGVrTYssbk4HTO5qZsQQ11D440=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUOrcuCCKFK3W2kTVY4z2bU2dizbWdpa/hG9wi/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+UWTHy9AaVaJK3MvIeVkKljBKDGeGg8G4UM4GNzu9+NhvIzoOcAt6KM2Lm8PepDkFa05CENLovUEx9KklijDaAkuTGoNktA5mcLEQ0E46NQu/bronWfyqKiUP8JES/bfCku41vc880pOzEw/zTXkf3O5bhp2pttGpXShu2wtpwpg3jWaL5jUrdW7ldfuQ0zxKbVMyNqAoC6KwkTAT1pxTkRukwUYN8GpTUDoWkEz2NqkubIi6mPnfLcv4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Ih+od/BevAhwMHxShr02prXqBPB57+H9cbI</latexit>
z
<latexit sha1_base64="/4wQtaumUn0xgRjoyLFh3sx82kE=">AAACoXicbVHLbtQwFPWEVwmvKSzZWCRIZTNKRqpgWQQLWCAG1GkrTaKR49xMrYkdy3aGFss/wNewhT/hb3DSLEjLlSwfnfu+p5A10yZJ/kyCW7fv3L23dz988PDR4yfT/acnumkVhSVt6kadFURDzQQsDTM1nEkFhBc1nBbbd53/dAdKs0Ycm0sJOScbwSpGifHUehrHcZgZuDB9KaugdDbbgbHSHZhXDodxjMP1NEpmSW/4JkgHEKHBFuv9CWRlQ1sOwtCaaL1KE2lyS5RhtAYXZq0GSeiWbGDloSAcdG77GRx+6ZkSV43yTxjcs/9mWMK1vuSFj+TEnOvrvo78r6/UXcFRd9tFKV3pMdvKjQLYjgctd0zqYdSLq1nHi5jqTW6ZkK0BQR3GYSbgG204J6Lsr+pWaW4zELpV0DW2Nuu+osJR6pyv9h78uRR88uTbWp6TwivRh8jv1NnPx6mzPeLOMr+IFya9LsNNcDKfpYez5Ms8OpoPEu2h5+gFOkApeo2O0Ae0QEtE0Q/0E/1Cv4Mo+Bgsgq9XocFkyHmGRhas/gJqxdMs</latexit>
p(t) p0
<latexit sha1_base64="mKIBtOEjgohaCC4GzncZoJNDKg8=">AAACoHicbVHLTtwwFPWEPmj6gnbZjcVM1a5GyUioXVK1CzYVIDGAOomQ49wM1tiOZTtTqOUP4Gu6LZ/C39QJWTTQK1k+Ovfcd6E4MzZJbkfRxqPHT55uPoufv3j56vXW9psTUzeawpzWvNZnBTHAmYS5ZZbDmdJARMHhtFh9bf2na9CG1fLYXinIBVlKVjFKbKDOt8aTSZxZuLRdKlfwBrzL1mCd8h88jicTHAdVMk06ww9B2oMx6u3wfHsEWVnTRoC0lBNjFmmibO6Itoxy8HHWGFCErsgSFgFKIsDkrmvB4/eBKXFV6/CkxR37b4QjwpgrUQSlIPbC3Pe15H99pWkTDqq7VqVNZYZso5YaYDVstFwzZfpWL+96HQ5iq8+5Y1I1FiT1GMeZhJ+0FoLIstupX6S5y0CaRkNb2Lms/YoKj1PvQ7ZvENal4Xsgv3B1QYpwh06iflHvDo5T7zokvGNhkHCY9P4ZHoKT2TTdnSZHs/HerD/RJnqHdtBHlKJPaA/to0M0RxRdo9/oD7qJdqL96CA6upNGoz7mLRpY9OMv0fvS8Q==</latexit>
Interprétation physique:
0 0
<latexit sha1_base64="SHtXoDg/JYtu2DHcJ1KovNo/ckQ=">AAACjnicbVFNb9MwGHbD15YBa+G4i0WL4FQllTa4IIbgsAtik9ZtUhNVjvOmsxo7lu10DMs/hSv8Jv4NTpbDsu2VLD963u/3yWTJtImif4Pg0eMnT59tbYc7z1+83B2OXp3pqlYU5rQqK3WREQ0lEzA3zJRwIRUQnpVwnq2/Nv7zDSjNKnFqriWknKwEKxglxlPL4WgyCZMNGCvdOxxOJjhcDsfRNGoN3wdxB8aos+PlaABJXtGagzC0JFov4kia1BJlGC3BhUmtQRK6JitYeCgIB53adnaH33omx0Wl/BMGt+ztDEu41tc885GcmEt919eQD/py3RTsdbdNlNKF7rO1XCmAdX/QfMOk7kb9eTNrfxFTfEwtE7I2IKjDOEwEXNGKcyJy25zULeLUJiB0raBpbG3SfFmBx7Fzvto38OdS8N2TX0p5STIvQxsif1Fnf5zGzraIO8v8Il6Y+K4M98HZbBrvT6OT2fhw1km0hfbQG/QexegDOkRH6BjNEUVX6Df6g/4Gw+Ag+BR8vgkNBl3Oa9Sz4Og/CJjKZQ==</latexit>
<latexit sha1_base64="isGmzZ3NdEKEb6uvDT2LK36ta+k=">AAACpnicbVHdbtMwFHbD3wg/6+CSG4sW0UmoSiqh7QZpCC64AQZa10lNVBznpLMaO5btFIblZ+BpuIXn4G1wslyQjSNZ/s53/s/JZMm0iaI/g+DGzVu37+zcDe/df/Bwd7j36FRXtaIwp1VZqbOMaCiZgLlhpoQzqYDwrIRFtnnT2BdbUJpV4sRcSEg5WQtWMEqMp1bD/fE4TLZgrHQTs49f4Vb53CjJi87wPByPcbgajqJp1Aq+DuIOjFAnx6u9ASR5RWsOwtCSaL2MI2lSS5RhtAQXJrUGSeiGrGHpoSAcdGrbmRx+5pkcF5XyTxjcsv9GWMK1vuCZ9+TEnOurtob8ry3XTcJeddt4KV3oPlvLtQLY9BvNt0zqrtVvl732BzHFYWqZkLUBQR3GYSLgK604JyK3zUbdMk5tAkLXCprC1ibNlxV4FDvns70Fvy4F7z35upTnJPNXaF3kd+rsx5PY2RZxZ5kfxB8mvnqG6+B0No1fTqNPs9HRrDvRDnqCnqIJitEBOkLv0DGaI4p+oJ/oF/odTIIPwTxYXLoGgy7mMepJ8OUvLsbTzA==</latexit>
• Soit p un vecteur constant et p(t) = R(t) p

x
<latexit sha1_base64="taQSE4NaEOty8gKKaULIvxR/WIs=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUMreuCCKFK3W2kTVY4z2bU2dizbWdpa/hFc6S/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+ZcmP16A0qwSV+ZeQsrJVLCCUWI8NR4MwrtwMLjd78fDeBnRc4Bb0EdtXN4e9CDJK1pzEIaWROsJjqVJLVGG0RJcmNQaJKFzMoWJh4Jw0Kld+nXRO8/kUVEpf4SJluy/FZZwre955pWcmJl+mmvI/+Zy3TTsTLeNSulCd9laThXAvGs0XzCpW6t3K6/dh5jiU2qZkLUBQV0UhYmAn7TinIjcJgswboJTm4DQtYJmsLVJc2VF1MfO+W4X4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Av9Ro/BevAhwMHxShr02prXqBPB57+Dv8bG</latexit>
y
<latexit sha1_base64="qWx8/cu2aMTMUWHnup+hkbdF3Bo=">AAACgnicbVFBb9MwFHbDYCMw2ODIJaKdNO1QxQO0HTgMwYELokjrWqmJKsd56azGjmU7HcXyj+AKv4x/g9PmQFaeZPnT97733me/TJZMmzj+0wse7D18tH/wOHzy9PDZ86PjFze6qhWFMa3KSk0zoqFkAsaGmRKmUgHhWQmTbPmxyU9WoDSrxLVZS0g5WQhWMEqMpyaDQbgOB4P5UT8expuIdgFuQR+1MZof9yDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0Knd+HXRiWfyqKiUP8JEG/bfCku41mueeSUn5lbfzzXkf3O5bhp2pttGpXShu2wtFwpg2TWar5jUrdXvW6/dh5jiMrVMyNqAoC6KwkTAHa04JyK3yQqMm+HUJiB0raAZbG3SXFkR9bFzvtsn8N+l4IsnP5TylmRgthL5gzr79Ro7u0HcWeYf4heD769hF9ycD/G7YfztvH/1tl3RAXqFXqNThNEFukKf0QiNEUVL9BP9Qr+DveAswMGbrTTotTUvUSeC938BhdrGxw==</latexit>
• La derivée par rapport au temps de p(t) est:

<latexit sha1_base64="sB+u/Ufs+IW5TZWjexa4LiuBW6w=">AAACjXicbVHLTtwwFPUEyiNtYaDLbiJmKtHNKBkJwQIhqiK1G1SQGECaRCPHuRmsiR3LdoZSy3/Ctv2n/k2dkEUDXMny0bnve1JRUKXD8G/PW1l9s7a+sem/ffd+a7u/s3utykoSmJCyKOVtihUUlMNEU13ArZCAWVrATbr4WvtvliAVLfmVfhCQMDznNKcEa0fN+v3h0I+XoI2w+/qzPxzO+oNwFDYWvARRCwaotYvZTg/irCQVA65JgZWaRqHQicFSU1KA9eNKgcBkgecwdZBjBioxzeg2+OSYLMhL6R7XQcP+n2EwU+qBpS6SYX2nnvtq8lVfpuqCne6mjpIqV122EnMJsOgOmi2pUO2oP59m7S6i86PEUC4qDZzYIPBjDvekZAzzzNQXtdMoMTFwVUmoGxsT11+aB4PIWlftDNy5JJw78ksh7nDqVGhCxC9izY+ryJoGMWuoW8QJEz2X4SW4Ho+ig1F4OR6cjluJNtBHtIf2UYQO0Sn6ji7QBBG0RI/oN/rjbXsH3rF38hTq9dqcD6hj3rd/kCPKrw==</latexit>
ṗ(t) = Ṙ(t) p0 = S(t) R(t) p0

<latexit sha1_base64="LJ6/K8E8QzC3RXZifgD6+o4NTRw=">AAAC23icbVHLbtQwFPWEVwmvKSzZRMwgijQaJRWo3SC1ggUb1FI6baVJGDnOzdSa2LFsZ2ixvGKH2PJH/AS/0C18AE4aRNNyJcvH557re+2TioIqHYY/e9616zdu3lq57d+5e+/+g/7qwwNVVpLAhJRFKY9SrKCgHCaa6gKOhATM0gIO08XrOn+4BKloyff1qYCE4TmnOSVYO2rW/zgc+nFWahMvQRth7Zp+HsSjV/Eo+EfvNXQ8ajXP/grq44cLqb2uzB8OZ/1BOA6bCK6CqAUD1MbubLUHri+pGHBNCqzUNAqFTgyWmpICrB9XCgQmCzyHqYMcM1CJaT7CBk8dkwV5Kd3iOmjYixUGM6VOWeqUDOtjdTlXk//NZaq+sNPd1CqpctVlKzGXAIvuoNmSCtWOenI+a/chOt9MDOWi0sCJDQI/5vCJlIxhnjUe2GmUmBi4qiTUjY2J6y3Ng0FkrbvtDbjvkvDOkduFOMap86CRiM/Emp39yJoGMWuoe4gzJrpsw1VwsD6OXo7D9+uDrRetRSvoMXqC1lCENtAWeot20QQR9AOdoV/ot5d4X7yv3rdzqddrax6hTnjf/wCTTulI</latexit>
• Si le vecteur !(t) est la vitesse angulaire (ou de rotation) du repère R(t)

<latexit sha1_base64="mHshqDnxD1X/LkcAv2NtZ0bogY0=">AAACmXicbVHLbtNAFJ2YVzGvFJZlYZEglU1kR0J02QoWFRKiiKatFFvReHydjjIvzYxTymg2fA1b+Bv+hnHiBW650ugenXvua26pGDU2Tf8Mojt3791/sPMwfvT4ydNnw93nZ0Y2msCMSCb1RYkNMCpgZqllcKE0YF4yOC9X79v4+Rq0oVKc2msFBcdLQWtKsA3UYvhyPI7zUrLKXPPgXC45LLHft2/i8XgxHKWTdGPJbZB1YIQ6O1nsDiCvJGk4CEsYNmaepcoWDmtLCQMf540BhckKL2EeoMAcTOE2a/jkdWCqpJY6PGGTDftvhsPctGMGJcf20tyMteR/Y5VpC/a6u1alTW36bKOWGmDVH7RaU2W6Ub9tZ+0vYuuDwlGhGguC+CSJcwFXRHKOReXyNVg/zwqXgzCNhraxc3nryjoZZd6Hah8gfJeGT4E8YuoSl2C3EvWdePf5NPNug7h3NCwSDpPdPMNtcDadZG8n6Zfp6HDanWgH7aFXaB9l6B06RMfoBM0QQT/QT/QL/Y72oqPoOPq4lUaDLucF6ln09S/jjtAE</latexit>
<latexit sha1_base64="6YxGGTFlKgy4fUqkrTgkXc//BbQ=">AAACjXicbVHLTtwwFPWktKXpg6FddhMxU4luRjESoguEqFqp3SAeYgBpEo0c52awJnYs25mWWv6Tbtt/6t/UCVkQ4EqWj85935PJkmkTx/8GwZO1p8+er78IX756/WZjuPn2Qle1ojClVVmpq4xoKJmAqWGmhCupgPCshMts+aXxX65AaVaJc3MjIeVkIVjBKDGemg+H43GYrMDYM7dtPobj8Xw4iidxa9FDgDswQp2dzDcHkOQVrTkIQ0ui9QzH0qSWKMNoCS5Mag2S0CVZwMxDQTjo1Laju+iDZ/KoqJR/wkQtezfDEq71Dc98JCfmWt/3NeSjvlw3BXvdbROldKH7bC0XCmDZHzRfMam7UX/eztpfxBSfUsuErA0I6qIoTAT8oBXnROS2uaib4dQmIHStoGlsbdJ8WRGNsHO+2lfw51Jw5MnPpbwmmVehDZG/qLPH59jZFnFnmV/EC4Pvy/AQXOxM8O4kPt0ZHeJOonX0Hm2hbYTRHjpE39EJmiKKVug3+oP+BhvBbrAfHNyGBoMu5x3qWfDtP1A0ypA=</latexit>
par rapport au repère “fixe” au temps t , nous savons de la mécanique que:

<latexit sha1_base64="e5p38DRgJcyZzNFEAd9l4aM5JsQ=">AAACgnicbVFNT9wwEPUG2kLoBx9HLlF3K1U9rGJQVQ4cQOXABZVKLIu0iZDjTBZrY8eynW3B8o/oFX4Z/wZnN4cGGMny05s3M8+eTJZMmzh+7AUrq2/evltbDzfef/j4aXNr+1JXtaIwolVZqauMaCiZgJFhpoQrqYDwrIRxNvvZ5MdzUJpV4sLcSkg5mQpWMEqMp8aDQWjCweB6sx8P40VELwFuQR+1cX691YMkr2jNQRhaEq0nOJYmtUQZRktwYVJrkITOyBQmHgrCQad24ddFXzyTR0Wl/BEmWrD/V1jCtb7lmVdyYm7081xDvprLddOwM902KqUL3WVrOVUAs67RfM6kbq3+XXrtPsQUB6llQtYGBHVRFCYC/tCKcyJym8zBuAlObQJC1wqawdYmzZUVUR8757udgP8uBWeePC7lDcnALCXyjjr76wI7u0DcWeYf4heDn6/hJbjcG+Lvw/j3Xv8ItytaQ7voM/qKMPqBjtApOkcjRNEM/UP36CFYDb4FONhfSoNeW7ODOhEcPgF6bMa/</latexit>
ṗ(t) = !(t) ⇥ R(t)p0

<latexit sha1_base64="qPgTmmk8qOBfFrYLiEwcPVSE4KQ=">AAAC3XicbVHLbtQwFPWEVwmPTmHJJmIGUaRqlFQguqlUBAs2iII6baVxNDjOzYw1sWPZzkCxvGSH2PJH/AP/wBbWOGkWpOVKlo/Ofd+TyZJpE8c/B8GVq9eu39i4Gd66fefu5nDr3rGuakVhSquyUqcZ0VAyAVPDTAmnUgHhWQkn2epl4z9Zg9KsEkfmTELKyUKwglFiPDUffhiPQ5xXxuI1GCud2zZPIryzj3cinFVlrs+4/yyuOCxI58SGcdBNRJPzvmHxUktCwcaTOKHcdcUeh+PxfDjyZGvRZZB0YIQ6O5xvDcAPRGsOwtCSaD1LYmlSS5RhtAQX4lqDb7YiC5h5KIgfJrXtKVz0yDN5VFTKP2Gilv03wxKum518JCdmqS/6GvK/vlw3BXvdbROldKH7bC0XCmDVHzRfM6m7UT+dz9pfxBR7qWVC1gYEdVEUYgEfacU5EXkrjpslqcUgdK2gaWwtbr6siEaJc77aK/DnUvDGky9KuSSZ16ANkZ+ps2+PEmdbxJ1lfhEvTHJRhsvgeHeSPJvE73ZHB087iTbQA/QQbaMEPUcH6DU6RFNE0Q/0C/1Gf4J58CX4Gnw7Dw0GXc591LPg+18zFurH</latexit>
• Donc l’opérateur S(t) décrit le produit vectoriel entre le vecteur !(t)

<latexit sha1_base64="eywHSxM2ukK83PfoMUO/zrDXlk8=">AAACjXicbVFdT9swFHXD+FjGoIzHvURrJ7GXKqmE4GGamDaJvUxjGgWkJqoc56a1GjuW7XQDy/+EV/hP/Js5IQ8L7EqWj879vicVBVU6DB963tqL9Y3NrZf+q+3XO7v9vTcXqqwkgQkpi1JepVhBQTlMNNUFXAkJmKUFXKbLL7X/cgVS0ZKf62sBCcNzTnNKsHbUrN8fDv14Bdr8sgf6gz8czvqDcBQ2FjwHUQsGqLWz2V4P4qwkFQOuSYGVmkah0InBUlNSgPXjSoHAZInnMHWQYwYqMc3oNnjvmCzIS+ke10HD/pthMFPqmqUukmG9UE99NflfX6bqgp3upo6SKlddthJzCbDsDpqtqFDtqH8eZ+0uovPjxFAuKg2c2CDwYw6/SckY5pmpL2qnUWJi4KqSUDc2Jq6/NA8GkbWu2ldw55Lw3ZGfC7HAqVOhCRE3xJof55E1DWLWULeIEyZ6KsNzcDEeRYej8Od4cDJuJdpCb9E7dIAidIRO0Dd0hiaIoBW6RXfo3tv1Dr2P3qfHUK/X5uyjjnmnfwFSoMqS</latexit>
<latexit sha1_base64="BrdrA8v8FGN/PTSzp7BFdL6J7Io=">AAACmnicbVHLjtMwFHXDawiP6cASkCJapGFTJZUQLIfHAoQQg9TOjNRElePcdKz6JdspDJZXfA1b+Br+BqfNgsxwJesenXvuy7dUjBqbpn8G0bXrN27e2rsd37l77/7+8ODBiZGNJjAnkkl9VmIDjAqYW2oZnCkNmJcMTsv12zZ+ugFtqBQze6Gg4HglaE0JtoFaDp+Mx3FeSlaZCx6cyyWHFfaH9nkSj8fL4SidpFtLroKsAyPU2fHyYAB5JUnDQVjCsDGLLFW2cFhbShj4OG8MKEzWeAWLAAXmYAq33cMnzwJTJbXU4QmbbNl/Mxzmpp0zKDm25+ZyrCX/G6tMW7DX3bUqbWrTZxu10gDr/qDVhirTjfptN2t/EVu/KhwVqrEgiE+SOBfwlUjOsahcvgHrF1nhchCm0dA2di5vXVkno8z7UO0dhO/S8CmQr5k6xyXYnUR9J959nmXebRH3joZFwmGyy2e4Ck6mk+zFJP0yHR1NuxPtoUfoKTpEGXqJjtB7dIzmiKAf6Cf6hX5Hj6M30Yfo404aDbqch6hn0ewvVdHQLg==</latexit>
et le vecteur R(t)p0
<latexit sha1_base64="LGmNsyl4cRbvWEdH4R57e7yqmwo=">AAAClnicbVFdb9MwFHXDYCN8rIMXpr1EtIjxUiWVJnhCmwYaL9MKWrdJTVQ5zk1nNXYs2ykblrVfwyv8Hv4NTpYHsnEly0fnnvudioIqHYZ/et6DtYeP1jce+0+ePnu+2d96cabKShKYkrIo5UWKFRSUw1RTXcCFkIBZWsB5ujys/ecrkIqW/FRfC0gYXnCaU4K1o+b97eHQj1egzTe7q981SNi3gT8czvuDcBQ2FtwHUQsGqLXJfKsHcVaSigHXpMBKzaJQ6MRgqSkpwPpxpUBgssQLmDnIMQOVmGYGG7xxTBbkpXSP66Bh/40wmCl1zVKnZFhfqru+mvyvL1N1wk51U6ukylWXrcRCAiy7jWYrKlTb6tVtr91BdP4hMZSLSgMnNgj8mMN3UjKGeWbqhdpZlJgYuKok1IWNiesvzYNBZK3L9gncuiQcO/KgEJc4dUdoJOIHsebkNLKmQcwa6gZxh4nunuE+OBuPor1R+HU82B+3J9pAO+g12kUReo/20Rc0QVNE0A36iX6h394r76P32Tu6lXq9NuYl6pg3+Qvmoc5F</latexit>
• Les éléments de S(t) symétriques par rapport à la diagonale principale

<latexit sha1_base64="eywHSxM2ukK83PfoMUO/zrDXlk8=">AAACjXicbVFdT9swFHXD+FjGoIzHvURrJ7GXKqmE4GGamDaJvUxjGgWkJqoc56a1GjuW7XQDy/+EV/hP/Js5IQ8L7EqWj879vicVBVU6DB963tqL9Y3NrZf+q+3XO7v9vTcXqqwkgQkpi1JepVhBQTlMNNUFXAkJmKUFXKbLL7X/cgVS0ZKf62sBCcNzTnNKsHbUrN8fDv14Bdr8sgf6gz8czvqDcBQ2FjwHUQsGqLWz2V4P4qwkFQOuSYGVmkah0InBUlNSgPXjSoHAZInnMHWQYwYqMc3oNnjvmCzIS+ke10HD/pthMFPqmqUukmG9UE99NflfX6bqgp3upo6SKlddthJzCbDsDpqtqFDtqH8eZ+0uovPjxFAuKg2c2CDwYw6/SckY5pmpL2qnUWJi4KqSUDc2Jq6/NA8GkbWu2ldw55Lw3ZGfC7HAqVOhCRE3xJof55E1DWLWULeIEyZ6KsNzcDEeRYej8Od4cDJuJdpCb9E7dIAidIRO0Dd0hiaIoBW6RXfo3tv1Dr2P3qfHUK/X5uyjjnmnfwFSoMqS</latexit>
répresentent les composantes du vecteur
! = [!x , !y , !z ]T
<latexit sha1_base64="ErniTGiWebp9gNFas8TZIYlYUes=">AAACv3icbVFbb9MwFHbDbYRbB4+8RLRIPFRVMoHgBWkDHnhBDKndJtWhcpyTzGrsWLZT1ln+P/waXoF/g9NGgmwcyfLn73zn5pPJimkTx78HwY2bt27f2bsb3rv/4OGj4f7jE103isKc1lWtzjKioWIC5oaZCs6kAsKzCk6z1fvWf7oGpVktZmYjIeWkFKxglBhPLYfvxuMQZ3WV6w33l8U1h5K4CE/e4km02D2XFxM86eDmL7xMv87C8Xg5HMXTeGvRdZB0YIQ6O17uDwDnNW04CEMrovUiiaVJLVGG0QpciBsNktAVKWHhoSAcdGq3w7rouWfyqKiVP8JEW/bfCEu4bofxSk7Mub7qa8n/+nLdJuxVt61K6UL32UaWCmDVbzRfM6m7Vi92vfYHMcWb1DIhGwOCuigKsYBvtOaciNziNRi3SFKLQehGQVvYWtxeWRGNEud8tg/gv0vBJ08eVfKcZGB2EnlJnf08S5zdIu4s84P4xSRX13AdnBxMk1fT+MvB6PBlt6I99BQ9Qy9Qgl6jQ/QRHaM5oug7+oF+ol/BUVAGIpA7aTDoYp6gngWbP9Mq3tM=</latexit>
16
Cinématique
c’est-à-dire: <latexit sha1_base64="Yh0SaoW0/5nevByDmgCeUcJXytg=">AAADKnicbVLLbtNAFB2bVzGPpnTJZkRCxSJEdiVeC6RCWbBBFNG0lTJWNB5fO6N4bGtmHJKO/EfwM+wqtnwI48SUpOVKlo/PPfftqMy40r5/4bg3bt66fWfrrnfv/oOH252dRyeqqCSDISuyQp5FVEHGcxhqrjM4KyVQEWVwGk0PG//pDKTiRX6sFyWEgqY5Tzij2lLjzo9ezyMz0OZrjUn/LeljkkGiR6TvkQhSnhtBteTz2vPxHn5OCgEpHZ9j+9HiBZmpkjIw/iAImKgJ8S5Ve3g9ar6mXAn/ehb/0s2bIAJ5fFmYSJ5OdOj1enjc6foDf2n4Ogha0EWtHY13HCBxwSoBuWYZVWoU+KUODZWaswxs8kqB7WlKUxhZmFMBKjTLvdb4qWVinBTSPrnGS3Y9wlCh1EJEVmmbnairvob8ry9WTcKN6s24E6kStclWZSoBppuNxjNeqrbV+arXzUF08jo0PC8rDTmrMfZIDt9YIQS1e23OXY+C0Ngtq0pCU9gY0ryiBHeDurbZPoBdl4RPlnyXlRMa2V9kKSnPWW0+Hwe1WSJRG24HsYcJrp7hOjjZHwQvBv6X/e7By/ZEW+gxeoKeoQC9QgfoIzpCQ8ScXeeN8945dL+7P90L99dK6jptzC7aMPf3Hx91Acg=</latexit>
2 3
0 !z !y
6 7
S = 4 !z 0 !x 5
!y !x 0
qui justifie l’expression:

<latexit sha1_base64="RkZ05HQilwZp3sJLKOpwxlL5TUo=">AAACtHicbVHdahQxFM6Of3X86VYvvQnuCi2UZaZg641Q0QtvxIrdtrAZlkzm7DbsJBOSzLY15FF8Gm/1AXwbM9MRnNYDIR/f+c5/rkpubJL8HkR37t67/2DjYfzo8ZOnm8OtZyemqjWDKavKSp/l1EDJJUwttyWcKQ1U5CWc5qv3jf90DdrwSh7bKwWZoEvJF5xRG6j58GA8jskarPvqt+0OJrtvyS7+S5C8KgtzJcLnSCVgSRvRDo7H4/lwlEyS1vBtkHZghDo7mm8NgBQVqwVIy0pqzCxNlM0c1ZazEnxMagOKshVdwixASQWYzLUTevwqMAVeVDo8aXHL/hvhqDBNo0EpqD03N30N+V9fYZqEvequUWmzMH22VksNsOo3Wqy5Ml2rl9e99gexizeZ41LVFiTzGMdEwgWrhKCycM2e/SzNHAFpag1NYedI8+ULPEq9D9k+QFiXhk+BfFeqc5qH27QS9Y159/k49a5FwjseBgmHSW+e4TY42ZukryfJl73R4X53og30Ar1E2yhFB+gQfURHaIoY+o5+oJ/oV7QfkYhFcC2NBl3Mc9SzSP4BePPZxQ==</latexit>
S(t) = S(!(t))
• On peut donc réécrire l’équation trouvée précédemment comme suit:
<latexit sha1_base64="9CLeIKG8GVljt3OmPXeIr9eOhGU=">AAAC0XicbVFNb9QwEPWGrxK+tnDkErGLVKRqlVSC9oJUBAcuiEJ320rraOU4s7vWxo5lO0sXyxLiyj/in3DjCr8CJ40QaRkp8vObN56ZvEwWTJs4/tELrl2/cfPW1u3wzt179x/0tx+e6LJSFCa0LEp1lhENBRMwMcwUcCYVEJ4VcJqtXtf50zUozUoxNhsJKScLweaMEuOpWX88HIY4K88htzgvjcVrMPajcxHefYl3m9ux2/GKItcb7g+LSw4L4p7hpZaEgo1HcUK5+1sYDoez/sCzTURXQdKCAWrjaLbdA9+dVhyEoQXReprE0qSWKMNoAS7ElQbfbUUWMPVQEA46tc36LnrqmTyal8p/wkQN+2+FJVzXw3slJ2apL+dq8r+5XNcPdrrbWqX0XHfZSi4UwKo7aL5mUrejnl/M2l3EzA9Sy4SsDAjqoijEAj7RknMi8sYJN01Si0HoSkHd2FpcH9k8GiTO+dfegP9dCt558lUhlyTzJjQS+Zk6+36cONsg7izzi3hjkss2XAUne6Pk+Sj+sDc4fNFatIUeoydoByVoHx2it+gITRBF39FP9Av9Do6DTfAl+HohDXptzSPUieDbH2C054k=</latexit>
Ṙ = S(!)R
17
Cinématique
Exemple:
Considèrons la matrice de rotation élémentaire autour de l’axe z .
<latexit sha1_base64="nMdEcTfW1uF9mY0wBhiI/Sa42to=">AAACg3icbVHBTtwwEPWmhUJo6VKOXKLuIlWqtEpWRfRSiYoeuFSlEgsrbSLkOJPFWtuxbGdbsPwTXMuP8Td1dnNooCNZfnrzZubZk0tGtYnjx17w4uXG5qut7XDn9Zvdt/29d5e6qhWBCalYpaY51sCogImhhsFUKsA8Z3CVL06b/NUSlKaVuDC3EjKO54KWlGDjqelwGN6Fw2F03R/Eo3gV0XOQtGCA2ji/3utBWlSk5iAMYVjrWRJLk1msDCUMXJjWGiQmCzyHmYcCc9CZXRl20aFniqislD/CRCv23wqLuda3PPdKjs2NfppryP/mCt007Ey3jUrpUnfZWs4VwKJrtFhSqVurv9deuw8x5efMUiFrA4K4KApTAb9IxTkWhU2XYNwsyWwKQtcKmsHWps2Vl9Egcc53+wb+uxR89+RXJm9wDmYtkXfE2R8XibMrxJ2l/iF+McnTNTwHl+NRcjSKf44HJ+N2RVvoAL1HH1CCjtEJOkPnaIIIYuge/UEPwUbwMRgHn9bSoNfW7KNOBF/+AvD9xvA=</latexit>
Si l’angle ↵ = ↵(t) , on trouve que:

<latexit sha1_base64="WdjzguxrCj/hSaJmYmI4NNBFIiQ=">AAAClnicbVHRbtMwFHXDBiMM6OAFtBeLFmm8VEklBC+gIUDjZaJI6zapiSrHuemsxo5lO4VhWXwNr/A9/M2cNg/LxpUsH5177vW9PpksmTZR9K8X3Nnavntv5374YPfho8f9vSenuqoVhSmtykqdZ0RDyQRMDTMlnEsFhGclnGXLj03+bAVKs0qcmEsJKScLwQpGifHUvP98OAwTUsoLgt/hDTgwr8LhEM/7g2gUrQPfBnELBqiNyXyvB0le0ZqDMLQkWs/iSJrUEmUYLcGFSa1BErokC5h5KAgHndr1Dg6/9EyOi0r5Iwxes9crLOFaX/LMKzkxF/pmriH/m8t107Dzum1UShe6y9ZyoQCW3UHzFZO6HfXHZtbuIqZ4m1omZG1AUIdxmAj4TivOichtsgLjZnFqExC6VtA8bG3SXFmBB7Fzvtsn8N+l4NiTHxoDMjAbifxJnf16Eju7RtxZ5hfxxsQ3bbgNTsej+PUo+jYeHI5bi3bQPnqBDlCM3qBD9AVN0BRR9Av9Rn/Q3+BZ8D74HBxtpEGvrXmKOhFMrgDpic1X</latexit>
<latexit sha1_base64="cw+0is9x2vyxnhQgiwgaZeGG7aY=">AAAFJHichVNLbxMxEN42AcpCaQtHLgsJVSul1W4RjwORiuDABVGgLykOkXczSax6H7Kd0NTy3+mv4YY4cOG3MN7dQjdtVK9WHs2M5/vmGzvMOJPK938vLNbqt27fWbrr3ru//GBlde3hoUzHIoKDKOWpOA6pBM4SOFBMcTjOBNA45HAUnryz8aMJCMnSZF9NM+jGdJiwAYuoQldvbfG82XRJCEOWaCoEnRrNOTcumYDSX82G2vTWyRP7tYttnfRTpfPwF2N6ZxuE8mxEMXGTtEr3t/2qfyIzGoH2t4MXUWwIcWdKeoTDQHVI64JJTJVgp8bdKsDySoZIlhSmt+5VI1EqywiG/Et4QYE3J3m2zH+A68v41m1/l0DS/8cS+xZsOFJdbGZOIxXQG3G2Kq3e2N0FrWAOLY+02qQ1V2R/VocZGP/lVRFzxOvTbhLpgk15wUiY8r6cxrhpksYwpPbSbRaHixvpNpteb7WBEPnyrhpBaTSccu311hYACUfjGBIVcSplJ/Az1cWSikUckNBYAlI/oUPooJnQGGRX5y/KeM/Q0/cGqcA/UV7uvXxC01ha0piJDY7kbMw6r431pS1YQbcSjYQcyKp3nA0FwEmVaH/CMllSPS24VhtRg9ddzZJsrCCJcJIuSeB7lMYxRTmt5qYTdDWKK8cCLLDWxG7hwGsExmC194ByCfiIzrd21iHOKU/JziKjP+0HRudWbDTDRnAwwewYrhqHO/j2t/3PO43doBzRkvPYeepsOIHzytl1Pjh7zoET1ZZrz2tvau36ef1H/Wf9V5G6uFCeeeRUVv3PX4SprAs=</latexit>
S(t) = Ṙz (↵(t)) RTz (↵(t))

2 32 3 2 3
↵˙ sin ↵ ↵˙ cos ↵ 0 cos ↵ sin ↵ 0 0 ↵˙ 0
6 76 7
= 4 ↵˙ cos ↵ ↵˙ sin ↵ 0 54 sin ↵ cos ↵ 0 5 = 4 ↵˙ 0 0 5 = S(!(t))
0 0 0 0 0 1 0 0 0
Donc, nous avons que: <latexit sha1_base64="6mGVrTYssbk4HTO5qZsQQ11D440=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUOrcuCCKFK3W2kTVY4z2bU2dizbWdpa/hG9wi/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+UWTHy9AaVaJK3MvIeVkKljBKDGeGg8G4UM4GNzu9+NhvIzoOcAt6KM2Lm8PepDkFa05CENLovUEx9KklijDaAkuTGoNktA5mcLEQ0E46NQu/bronWfyqKiUP8JES/bfCku41vc880pOzEw/zTXkf3O5bhp2pttGpXShu2wtpwpg3jWaL5jUrdW7ldfuQ0zxKbVMyNqAoC6KwkTAT1pxTkRukwUYN8GpTUDoWkEz2NqkubIi6mPnfLcv4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Ih+od/BevAhwMHxShr02prXqBPB57+H9cbI</latexit>
z
<latexit sha1_base64="bJVyvQOvEIaIJCtL9AX64qf7LrI=">AAAC/3icbVHdatRAFJ7Evxq13eqFgjfBXcGLsiSFYqEIFb3wRqzQbQs7YZlMTrLDZiZhZrJtHeZCX8Y78dZH8Q18DCe7QUzbA8McvvP3ne+kdcmUjqLfnn/r9p279zbuBw8ePtrcGmw/PlFVIylMaFVW8iwlCkomYKKZLuGslkB4WsJpunjXxk+XIBWrxLG+rCHhpBAsZ5RoB80G30ajAKdVmalL7j6DKw4FsWGAd97gnRCXkOspPnA5UDBhONGSXdggwktVEwomGseUW4xvQHBWaYNJWc+JDTCI7F81PsCSFXOdhMFoFM4Gw2gcrSy87sSdM0SdHc22PXC9acNBaFoSpaZxVOvEEKkZLcH1bxQ4LgtSwNS5gnBQiVmJZcOXDsnCvJLuCR2u0P8rDOGqFcNlOr5zdTXWgjfGMtU27E1vN55Llas+2tSFBFj0iWZLVquO6sWaa38Rne8nhom60SCoDd2JBJzTinPipMVL0HYaJ8YJrRoJ7WBjcPuleTiMrXXd3oOTS8JHB75tz5KCXqfUX6g1n45ja1Yet4a5Rdxh4qtnuO6c7I7jvXH0eXd4uNedaAM9Ry/QKxSj1+gQfUBHaIIo+uNtek+9Z/5X/7v/w/+5TvW9ruYJ6pn/6y/pb/UA</latexit>
2 3
0
↵˙
<latexit sha1_base64="zVu7G5uQJ4E+6F1R5ky+W4xi8wE=">AAACo3icbVHLbtQwFPWEVwmvKSzZRMwUsRollSpYFsECCSEKmmkrjaOR49xMrbEdy3aGFst/wNewhR/hb3AyWZCWK1k+Ovd9T6E4MzZN/4yiW7fv3L23dz9+8PDR4yfj/aenpm40hQWtea3PC2KAMwkLyyyHc6WBiILDWbF51/rPtqANq+XcXinIBVlLVjFKbKBW45fTaYwtXNqulCt4A97hsrYOE64uiPfxdJrEq/EknaWdJTdB1oMJ6u1ktT+CUIU2AqSlnBizzFJlc0e0ZZSDj3FjQBG6IWtYBiiJAJO7bgqfHASmTKpahydt0rH/ZjgijLkSRYgUxF6Y676W/K+vNG3BQXfXRmlTmSHbqLUG2AwHLbdMmX7Uy92sw0Vs9SZ3TKrGgqQ+SWIs4RuthSCydHgL1i+z3GGQptHQNnYOt19RJZPMh2Pj9xDOpeFTIN+2AhRgdyHqO/Xu8zzzrkPCOxYWCcJk12W4CU4PZ9nRLP1yODk+6iXaQ8/RC/QKZeg1OkYf0AlaIIp+oJ/oF/odHUQfo6/RfBcajfqcZ2hgUf4X3l7UtQ==</latexit>
6 7
! = 405
↵˙ x
<latexit sha1_base64="taQSE4NaEOty8gKKaULIvxR/WIs=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUMreuCCKFK3W2kTVY4z2bU2dizbWdpa/hFc6S/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+ZcmP16A0qwSV+ZeQsrJVLCCUWI8NR4MwrtwMLjd78fDeBnRc4Bb0EdtXN4e9CDJK1pzEIaWROsJjqVJLVGG0RJcmNQaJKFzMoWJh4Jw0Kld+nXRO8/kUVEpf4SJluy/FZZwre955pWcmJl+mmvI/+Zy3TTsTLeNSulCd9laThXAvGs0XzCpW6t3K6/dh5jiU2qZkLUBQV0UhYmAn7TinIjcJgswboJTm4DQtYJmsLVJc2VF1MfO+W4X4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Av9Ro/BevAhwMHxShr02prXqBPB57+Dv8bG</latexit>
y
<latexit sha1_base64="qWx8/cu2aMTMUWHnup+hkbdF3Bo=">AAACgnicbVFBb9MwFHbDYCMw2ODIJaKdNO1QxQO0HTgMwYELokjrWqmJKsd56azGjmU7HcXyj+AKv4x/g9PmQFaeZPnT97733me/TJZMmzj+0wse7D18tH/wOHzy9PDZ86PjFze6qhWFMa3KSk0zoqFkAsaGmRKmUgHhWQmTbPmxyU9WoDSrxLVZS0g5WQhWMEqMpyaDQbgOB4P5UT8expuIdgFuQR+1MZof9yDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0Knd+HXRiWfyqKiUP8JEG/bfCku41mueeSUn5lbfzzXkf3O5bhp2pttGpXShu2wtFwpg2TWar5jUrdXvW6/dh5jiMrVMyNqAoC6KwkTAHa04JyK3yQqMm+HUJiB0raAZbG3SXFkR9bFzvtsn8N+l4IsnP5TylmRgthL5gzr79Ro7u0HcWeYf4heD769hF9ycD/G7YfztvH/1tl3RAXqFXqNThNEFukKf0QiNEUVL9BP9Qr+DveAswMGbrTTotTUvUSeC938BhdrGxw==</latexit>
qui exprime la vitesse angulaire du repère autour de l’axe z

<latexit sha1_base64="nMdEcTfW1uF9mY0wBhiI/Sa42to=">AAACg3icbVHBTtwwEPWmhUJo6VKOXKLuIlWqtEpWRfRSiYoeuFSlEgsrbSLkOJPFWtuxbGdbsPwTXMuP8Td1dnNooCNZfnrzZubZk0tGtYnjx17w4uXG5qut7XDn9Zvdt/29d5e6qhWBCalYpaY51sCogImhhsFUKsA8Z3CVL06b/NUSlKaVuDC3EjKO54KWlGDjqelwGN6Fw2F03R/Eo3gV0XOQtGCA2ji/3utBWlSk5iAMYVjrWRJLk1msDCUMXJjWGiQmCzyHmYcCc9CZXRl20aFniqislD/CRCv23wqLuda3PPdKjs2NfppryP/mCt007Ey3jUrpUnfZWs4VwKJrtFhSqVurv9deuw8x5efMUiFrA4K4KApTAb9IxTkWhU2XYNwsyWwKQtcKmsHWps2Vl9Egcc53+wb+uxR89+RXJm9wDmYtkXfE2R8XibMrxJ2l/iF+McnTNTwHl+NRcjSKf44HJ+N2RVvoAL1HH1CCjtEJOkPnaIIIYuge/UEPwUbwMRgHn9bSoNfW7KNOBF/+AvD9xvA=</latexit>
18
Cinématique
Mouvement de corps rigide P
0
p1
<latexit sha1_base64="HxuSx7gJQ2yE+jUzII2VAB036HY=">AAACjHicbVFda9swFFW8j3be1qbr417MksGegh1aWiiDjpXRl7IMkrYQe0GWr1MRSxaSnK0T+iV73X5U/01l1w9zswtCh3O/70lFQZUOw7ue9+Tps+db2y/8l69e7+z2995cqrKSBGakLEp5nWIFBeUw01QXcC0kYJYWcJWuPtf+qzVIRUs+1bcCEoaXnOaUYO2oRX93OPTjNWgj7PfQHw4X/UE4ChsLNkHUggFqbbLY60GclaRiwDUpsFLzKBQ6MVhqSgqwflwpEJis8BLmDnLMQCWmmdwG7x2TBXkp3eM6aNh/MwxmSt2y1EUyrG/UY19N/teXqbpgp7upo6TKVZetxFICrLqDZmsqVDvqz4dZu4vo/DgxlItKAyc2CPyYww9SMoZ5ZuqD2nmUmBi4qiTUjY2J6y/Ng0Fkrat2Bu5cEi4c+akQNzh1IjQh4hex5us0sqZBzBrqFnHCRI9l2ASX41F0OAq/jQenB61E2+gteoc+oAgdoVN0jiZohgiq0G/0B/31drwD78T7+BDq9dqcfdQx78s982PKcA==</latexit> <latexit sha1_base64="4xBbMhZAfBYZaDJtlKxyRl6eLC8=">AAACjHicbVFdT9RAFJ2tKFAVFn3kpWHXxKdNh0A0ISYYjfHFCAkLJNu6mU5vl8l2ppOZ6SpO5pfwij/Kf+O09MECN5nMybnf92SyZNrE8d9B8GTt6bP1jc3w+YuXW9vDnVfnuqoVhSmtykpdZkRDyQRMDTMlXEoFhGclXGTLT43/YgVKs0qcmWsJKScLwQpGifHUfLg9HofJCoyV7gcOx+P5cBRP4taihwB3YIQ6O5nvDCDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0KltJ3fRG8/kUVEp/4SJWvb/DEu41tc885GcmCt939eQj/py3RTsdbdNlNKF7rO1XCiAZX/QfMWk7kb9dTdrfxFTvE8tE7I2IKiLojAR8JNWnBOR2+agboZTm4DQtYKmsbVJ82VFNMLO+WqfwZ9LwTdPfizlFcm8CG2I/E2d/X6GnW0Rd5b5Rbww+L4MD8H5/gQfTuLT/dHxQSfRBtpFe+gtwugdOkZf0QmaIopqdINu0Z9gKzgIjoIPd6HBoMt5jXoWfPkH9X7KcQ==</latexit>
p
Repère 1
o01
Repère 0
• La transformation de coordonnées d’un point P entre les repères 0 et 1 est:
p0 = o01 + R01 p1
<latexit sha1_base64="Io61vwWQ8EcIg1SxZ30zCpbUPgE=">AAACu3icbZFNb9QwEIa94auEry09conYRUJitYorVXApKmoPXBAFddtKm7BynMnWbOxYtrNQLP+b/hqucOHf4KSpRFpGivL6mdf2jCeTJdMmjv8Mglu379y9t3E/fPDw0eMnw82nx7qqFYUZrcpKnWZEQ8kEzAwzJZxKBYRnJZxkq/0mf7IGpVkljsy5hJSTpWAFo8R4tBi+HY/DZA3GSvcljpLJbjKJ2nXlFrglr67I55Ykkys7DsfjxXAUT+M2opsCd2KEujhcbA4gyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KEuZeCcNCpbRt10QtP8qiolP+EiVr67w5LuNbnPPNOTsyZvp5r4H9zuW4O7N1uG5fShe7TWi4VwKpfaL5mUnelfr+std+IKd6klglZGxDURVGYCPhGK86JyG3zoG6OU5uA0LWC5mJrk+aXFdEIO+dPOwD/XAo+ePiulGck80NoLfIHdfbjEXa2VdxZ5hvxg8HXx3BTHG9P8c40/rQ92tvpRrSBnqHn6CXC6DXaQ+/RIZohii7QT/QL/Q52Axp8DcpLazDo9myhXgT1X39/27w=</latexit>
• Si on calcule la dérivée par rapport au temps de cette expression, on trouve que:
ṗ0 = ȯ01 + R01 ṗ1 + Ṙ01 p1

<latexit sha1_base64="S7uu3zZAlQljb2puSJx16OFYqBY=">AAAC8nicbZHNbtQwEMed8FVSPrZw5GKxi4TEahVXquCCVAQHLohSddtKm7BynNmttbFjxc5Csfwi3BBXXgjxMjjZFEjLSJZHv/nPeDyTqYJrE8c/g/Da9Rs3b23djrbv3L13f7Dz4FiXdcVgysqirE4zqqHgEqaGmwJOVQVUZAWcZKvXTfxkDZXmpTwy5wpSQZeSLzijxqP5oB6NoiQvjU3WYKxy7mOMk/HLZIz/0tK5OWn5s4Y36LAlybifSi4kf+ihuxBuNF4SjUZ4PhjGk7g1fNUhnTNEnR3MdwLwRVktQBpWUK1nJFYmtbQynBXgoqTWoChb0SXMvCupAJ3adj4OP/Ekx4uy8kca3NJ/MywVWp+LzCsFNWf6cqyB/43luinYe902qkovdJ/WalkBrPqN5muudNfq502v/Y+YxYvUcqlqA5I5jKNEwidWCkFl3g7YzUhqE5C6rqB52NqkubIFHhLnfLU34MdVwTsPXxXqjGZ+Da1EfWHOvj8izraecJb7j/jFkMtruOoc707I3iT+sDvc3+tWtIUeocfoKSLoOdpHb9EBmiKGfgVBEAXboQm/ht/C7xtpGHQ5D1HPwh+/Acnh70k=</latexit>
19
Cinématique
0
p1
p
Repère 1
o01
Repère 0
• Si on utilise l’expression de la dérivée d’une matrice et on spécifie la dépendance

à l’égard de la vitesse angulaire, on obtient:
ṗ0 = ȯ01 + R01 ṗ1 + S(! 01 ) R01 p1

<latexit sha1_base64="L7qRvIgQraSz0oYvvJJ9XmZwdcI=">AAADDnicbZHNbtQwEMed8FXC1xaOCCliFyhitYorVXBBKoIDF0SBbltpHVaOM9lGGztW7CwUy+8AL8MNceUVeBKuONlINC0jWR79Zv7jGU8ii1zpKPrt+RcuXrp8ZeNqcO36jZu3Bpu3D1RZVwymrCzK6iihCopcwFTnuoAjWQHlSQGHyfJlEz9cQaXyUuzrEwkxpwuRZzmj2qH54NtoFJC01IasQBtp7ccoJOPnZBz+o6W1c9zyJw1v0PuWkHFfik+nfLBbJCmLVJ1wdxlSclhQV36OHztdr8ha7+TBaBTOB8NoErUWnndw5wxRZ3vzTQ9cG6zmIDQrqFIzHEkdG1rpnBVgA1IrkJQt6QJmzhWUg4pN+3c2fOBIGmZl5Y7QYUtPKwzlqhnBZXKqj9XZWAP/G0tVU7D3ummyKpWpPq3logJY9htNV7lUXauf1732B9HZs9jkQtYaBLNhGBABn1jJORVpuxI7w7EhIFRdQfOwMaS5kiwcYmtdtVfgvquCNw6+KOQxTdwa2hT5hVnzdh9b03rcmtwN4haDz67hvHOwPcE7k+jd9nB3p1vRBrqL7qMthNFTtIteoz00RQz98e55D71H/lf/u//D/7lO9b1Ocwf1zP/1F5Kx+qM=</latexit>
p est noté r01 pour plus de simplicité, on conclue que:

<latexit sha1_base64="kvRAUg5DOqp/PrDf8c1J6+SUfnk=">AAACkHicbVHLbtQwFPWEVwmvabtkYzGDxGoUj4TojlawQEiIInXaSpMwcpybqTWxY9nOwGD5W9jCJ/E3OGkWpOVKlo/Ofd+Tq4obmyR/RtGdu/fuP9h7GD96/OTps/H+wbmpG81gweqq1pc5NVBxCQvLbQWXSgMVeQUX+eZd67/Ygja8lmd2pyATdC15yRm1gVqND6fTON2CddqvyNcEx9MpXo0nySzpDN8GpAcT1Nvpan8EaVGzRoC0rKLGLEmibOaotpxV4OO0MaAo29A1LAOUVIDJXDe9xy8DU+Cy1uFJizv23wxHhTE7kYdIQe2Vuelryf/6CtMWHHR3bZQ2pRmyjVprgM1w0GLLlelH/X4963ARWx5ljkvVWJDMYxynEr6xWggqC9ce1S9J5lKQptHQNnYubb+8xBPifaj2HsK5NHwK5EmlrmgehOhC1A/m3ecz4l2HhHc8LBKEITdluA3O5zPyepZ8mU+O571Ee+g5eoFeIYLeoGP0AZ2iBWJoh36iX+h3dBAdRW+jk+vQaNTnHKKBRR//AlVjy2g=</latexit>
R01 1
<latexit sha1_base64="VloU7Dp7tojJ6+AvbXXVEaXcwx4=">AAACm3icbVHLbtQwFPWEVwmPTmGJQBYzSCzQKK6EYFlUFgiBKKjTVpqkI8e5mVoTO5btDBTLO76GLfwMf4OTZkFarmT5+NxzX765qrixSfJnFF27fuPmra3b8Z279+5vj3ceHJm60QzmrK5qfZJTAxWXMLfcVnCiNFCRV3Ccr/db//EGtOG1PLTnCjJBV5KXnFEbqOX4yXQapxuw7otfktMkfdE9lD8lOJ5O8XI8SWZJZ/gqID2YoN4OljsjSIuaNQKkZRU1ZkESZTNHteWsAh+njQFF2ZquYBGgpAJM5rpBPH4WmAKXtQ5HWtyx/0Y4Kow5F3lQCmrPzGVfS/7XV5g24aC6a1XalGbINmqlAdbDRosNV6Zv9dtFr8NBbPk6c1yqxoJkHuM4lfCV1UJQWbj2S/2CZC4FaRoNbWHn0vbKSzwh3odsbyF8l4aPgXxTqTOahzV0EvWdeffpkHjXIeEdD4OExZDLa7gKjnZn5OUs+bw72SP9irbQI/QUPUcEvUJ76B06QHPE0A/0E/1Cv6PH0X70PvpwIY1GfcxDNLBo/hfCcM/f</latexit>
• Enfin, si le vecteur
ṗ0 = ȯ01 + R01 ṗ1 + ! 01 ⇥ r01

<latexit sha1_base64="03B2CrAAMVGBHEhLbuPRKdS/g1w=">AAADAnicbZHdbtMwFMed8DXKVwt37CaiRUKiquJJE9xMGoILbhADrdukJlSOc9pZjR3LdjqG5Tt4Ge4Qt7wIz8BL4KRBkI0jWefo5//5sE8mC6ZNHP8MwitXr12/sXWzd+v2nbv3+oP7R7qsFIUpLYtSnWREQ8EETA0zBZxIBYRnBRxnq5f1/fEalGalODTnElJOloItGCXGo3n/y2jUS/LS2GQNxkrnPsRRMt5LxtFfWjo3xw1/WvMavW9IMu6m4j+SrCxyfc69s0nJYUl82Tn2csM4aO/rDLWp2huNonl/GE/ixqLLAW6DIWrtYD4IwLemFQdhaEG0nuFYmtQSZRgtwPWSSoMkdEWWMPOhIL5vapv/ctFjT/JoUSp/hIka+m+GJVzX43slJ+ZUX7yr4X/vcl0X7HS3tUrphe7SSi4VwKo7aL5mUrejftzM2n2IWTxPLROyMiCoi6JeIuCMlpwTkTdrcDOc2gSErhTUja1NapctoiF2zld7Bf67FLzx8EUhT0nmF9FI5Cfq7NtD7GwTcWeZf4hfDL64hsvB0c4E707idzvD/d12RVtoGz1CTxBGz9A+eo0O0BRR9CsYBA+D7fBz+DX8Fn7fSMOgzXmAOhb++A14JfXg</latexit>
20
Cinématique
0
p1
p
Repère 1
o01
Repère 0
Cas particulier: Si P est fixe par rapport au repère 1, on trouve que:

ṗ0 = ȯ01 + ! 01 ⇥ r01

<latexit sha1_base64="XlTWhrAZ6QtAv0f9ReHzjrq4OKY=">AAAC33icbVFNb9QwEPWGrxI+uoUjl4hdJCRWq6RSBRekIjhwQRSp21Zah8hxZrfWxo5lO9sWy2duiCv/iL/An+AKR5xsJEjLSNY8vZnnGfvlsmTaxPGPQXDt+o2bt7Zuh3fu3ru/Pdx5cKSrWlGY0aqs1ElONJRMwMwwU8KJVEB4XsJxvnrd1I/XoDSrxKG5kJByshRswSgxnsqG+Xgc4qIyFq/BWOncxzjCk5d4Ev1lK+eypOWfNXxelYW+4D5ZXHFYEq/JEjzBhnHQPjcatZGE43GUDUfxNG4jugqSDoxQFwfZzgD8cFpzEIaWROt5EkuTWqIMoyW4ENcaJKErsoS5h4L4ualtP8NFTzxTRItK+SNM1LL/Kizhulnfd3JiTvXlWkP+t1bo5sLedNt0Kb3QfbaWSwWw6i9arJnU3arnm137DzGLF6llQtYGBHVRFGIBZ7TinIiiNcLNk9RiELpW0Ay2FjcpX0SjxDl/2xvw36XgnSdflfKU5N6ItkV+os6+P0ycbRF3lvmHeGOSyzZcBUe702RvGn/YHe3vdRZtoUfoMXqKEvQc7aO36ADNEEXf0U/0C/0OSPA5+BJ83bQGg07zEPUi+PYHa9DrLA==</latexit>
car ṗ1 = 0
<latexit sha1_base64="ldRTYN6LMJYnPPeJ+3UO6cY89Q0=">AAACnHicbVHLbtQwFPWEVwmPTukSCSxmkFhUo2QkBBukVnSBhCqK1JlWmoSR49xMrYkdy3aGFsvLfg1b+Bj+BifNgrRcyfLRue97MlkybaLozyC4c/fe/QdbD8NHj5883R7uPJvrqlYUZrQqK3WWEQ0lEzAzzJRwJhUQnpVwmq0/Nv7TDSjNKnFiLiWknKwEKxglxlPL4cvxOEzyythkA8ZK577FONn7kOzhCIfjMV4OR9Ekag3fBnEHRqiz4+XOAHw9WnMQhpZE60UcSZNaogyjJbgwqTVIQtdkBQsPBeGgU9tu4vBrz+S4qJR/wuCW/TfDEq71Jc98JCfmXN/0NeR/fbluCva62yZK6UL32VquFMC6P2i+YVJ3o15cz9pfxBTvU8uErA0I6jAOEwHfacU5EXl7W7eIU5uA0LWCprG1SfNlBR7Fzvlqh+DPpeDIkwelPCeZ16MNkT+os19OYmdbxJ1lfhEvTHxThttgPp3EbyfR1+lof9pJtIWeo1foDYrRO7SPPqFjNEMUXaGf6Bf6HbwIDoPPwdF1aDDocnZRz4L5X2hoz6c=</latexit>
21
22
y1
<latexit sha1_base64="nlRbGC1xw++IpaBzuRHrj3sGK9s=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcSXULqcCCVggCuq0lSbRyHFuptbEjmU7QwfLC76m2/I5/A1OJgvScqUrH5177ss3kyXTJo7/DIJ79x883Nl9FD5+8vTZ8+HeizNd1YrCjFZlpS4yoqFkAmaGmRIupALCsxLOs9X7Jn6+BqVZJU7NRkLKyVKwglFiPLUY7o/HYWLgyrSlrILc2c0Cu3A8jhbDUTyJW4vuAtyBEersZLE3gCSvaM1BGFoSrec4lia1RBlGS3BhUmuQhK7IEuYeCsJBp7Zt7aI3nsmjolLehYla9t8MS7jWG555JSfmUt+ONeR/Y7luCva620aldKH7bC2XCmDVHzRfM6m7Ua+2s/YXMcVRapmQtQFBXRSFiYAftOKciNwmazBujlObgNC1gqaxtUnzZEU0ws75ah/Af5eCL548LuUlycBsJfIndfbrKXa2RdxZ5hfxh8G3z3AXnB1M8LtJ/O1gNMXdiXbRPnqN3iKMDtEUfUInaIYo+oWu0Q36HbwKpsHH4PNWGgy6nJeoZ8H3v3G+z9g=</latexit>
Cinématique
Solide
Exemple:
O1
<latexit sha1_base64="8LzY2rWTniGbM5VNZS3zwn9DN+o=">AAACmHicbVHLbtQwFPWkPEp4TWFHN1FnkFiN4koIloNAAhZVC+q0lSbRyHFuptbEjmU7Q1vLC76GLXxO/6ZOJgvS9kqWj84992GfTJZMmzi+HgRbDx4+erz9JHz67PmLl8OdVye6qhWFGa3KSp1lREPJBMwMMyWcSQWEZyWcZqvPTf50DUqzShybSwkpJ0vBCkaJ8dRiuDseh4mBC9O2sgpyZw8X2IXjcbQYjuJJ3EZ0F+AOjFAXR4udASR5RWsOwtCSaD3HsTSpJcowWoILk1qDJHRFljD3UBAOOrXtaBe99UweFZXyR5ioZf+vsIRrfckzr+TEnOvbuYa8N5frpmFvum1UShe6z9ZyqQBW/UXzNZO6W/Vis2v/Iab4mFomZG1AUBdFYSLgF604JyK3yRqMm+PUJiB0raAZbG3SXFkRjbBzvtsX8N+l4MCTn0p5TjIwG4m8ot6PY+xsi7izzD/EG4Nv23AXnOxP8PtJ/GN/NMWdRdtoF+2hdwijD2iKvqEjNEMU/UZ/0F/0L3gTTIOvwfeNNBh0Na9RL4KfNxioz64=</latexit>
• P est un point d’un solide en mouvement x1

<latexit sha1_base64="Xl9sVS1WVVBJgDxOHZR2mpSSKBw=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcSXULqcCCVggCuq0lSbRyHFuptbEjmU7wxTLC76m2/I5/A1OJgvScqUrH5177ss3kyXTJo7/DIJ79x883Nl9FD5+8vTZ8+HeizNd1YrCjFZlpS4yoqFkAmaGmRIupALCsxLOs9X7Jn6+BqVZJU7NlYSUk6VgBaPEeGox3B+Pw8TAxrSlrILc2c0Cu3A8jhbDUTyJW4vuAtyBEersZLE3gCSvaM1BGFoSrec4lia1RBlGS3BhUmuQhK7IEuYeCsJBp7Zt7aI3nsmjolLehYla9t8MS7jWVzzzSk7Mpb4da8j/xnLdFOx1t41K6UL32VouFcCqP2i+ZlJ3o262s/YXMcVRapmQtQFBXRSFiYAftOKciNwmazBujlObgNC1gqaxtUnzZEU0ws75ah/Af5eCL548LuUlycBsJfIndfbrKXa2RdxZ5hfxh8G3z3AXnB1M8LtJ/O1gNMXdiXbRPnqN3iKMDtEUfUInaIYo+oWu0Q36HbwKpsHH4PNWGgy6nJeoZ8H3v2+fz9c=</latexit>
par rapport au repère 0 P

• Le repère 1 est attaché au solide p1 = [1, 0, 0]T
<latexit sha1_base64="zDver7n4RrbUleXVW4Ds2inkunA=">AAACnXicbVHLbtQwFPWEVwmPTmHJAosZJBbVKK6EYINUBEgseBRpplNpko4cz83UmtixbGegWN7yNWzhX/gbnDQL0nKlKx+d+/bJVcmNTZI/g+ja9Rs3b+3cju/cvXd/d7j34NhUtWYwY1VZ6ZOcGii5hJnltoQTpYGKvIR5vnnTxOdb0IZXcmrPFWSCriUvOKM2UMshHo/jdAvWKX9K8Cu8IPvpftJ4djqNx2O8HI6SSdIavgpIB0aos6Pl3gDSVcVqAdKykhqzIImymaPaclaCj9PagKJsQ9ewCFBSASZz7SkePw3MCheVDi4tbtl/KxwVxpyLPGQKas/M5VhD/je2Mk3D3nTXZGlTmD5bq7UG2PQXXW25Mt2q3y527R9ii5eZ41LVFiTzGMephK+sEoLKlWt+2C9I5lKQptbQDHYubZ68wCPifej2FsJ3afgYyNelOqN5UKVNUd+Zd5+nxLsWCe94OCQIQy7LcBUcH0zI80ny5WB0SDqJdtAj9AQ9QwS9QIfoPTpCM8TQD/QT/UK/o8fRu+hD9OkiNRp0NQ9Rz6L5X0RJzxg=</latexit>
• Le mouvement du repère 1 par rapport <latexit sha1_base64="td2Mx+TljKkdwZWEgkRxUhrqXAc=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcaWKLgeBBCwQLeq0lSbRyHFuptbEjmU7Q1vLC76m2/I5/A1OJoum5UpXPjr33JdvJkumTRz/HQQPHj56vLX9JHz67PmLl8OdVye6qhWFGa3KSp1lREPJBMwMMyWcSQWEZyWcZqtPTfx0DUqzShybSwkpJ0vBCkaJ8dRiuDseh4mBC9OWsgpyZ68W2IXjcbQYjuJJ3Fp0H+AOjFBnh4udASR5RWsOwtCSaD3HsTSpJcowWoILk1qDJHRFljD3UBAOOrVtaxe980weFZXyLkzUsrczLOFaX/LMKzkx5/purCH/G8t1U7DX3TYqpQvdZ2u5VACr/qD5mkndjXqxmbW/iCkOUsuErA0I6qIoTAT8ohXnROQ2WYNxc5zaBISuFTSNrU2aJyuiEXbOV/sM/rsUfPfkx1KekwzMRiKvqLM/jrGzLeLOMr+IPwy+e4b74GRvgvcn8dHeaIq7E22jXfQWvUcYfUBT9BUdohmi6De6RjfoT/AmmAZfgm8baTDocl6jngU//wFz3c/Z</latexit>
z1 y0
<latexit sha1_base64="E2E4STAiwciWYsHnIp2KaXB3HjI=">AAAChXicbVFNT9wwEPWmtND0C9pjLxG7lXrpKka05QaoHHqpAIkF1E20cpzJYm3sWLazsFj+F72W/9V/U2c3BwKMZPnpzZuZZ08mS6ZNHP/rBc/Wnr9Y33gZvnr95u27za3357qqFYURrcpKXWZEQ8kEjAwzJVxKBYRnJVxksx9N/mIOSrNKnJmFhJSTqWAFo8R46vdgEC4mcTgYRJPNfjyMlxE9BrgFfdTGyWSrB0le0ZqDMLQkWo9xLE1qiTKMluDCpNYgCZ2RKYw9FISDTu3Ssos+eSaPikr5I0y0ZO9XWMK1XvDMKzkxV/phriGfzOW6adiZbhuV0oXusrWcKoBZ12g+Z1K3Vm9WXrsPMcVeapmQtQFBXRSFiYBrWnFORG6TORg3xqlNQOhaQTPY2qS5siLqY+d8tyPw36XglycPS3lFMjAribylzh6fYWeXiDvL/EP8YvDDNTwG5ztD/HUYn+70D3C7og30EW2jzwij7+gA/UQnaIQoEugP+ovugvXgS7AbfFtJg15b8wF1Itj/D2lZx5E=</latexit>
au repère 0 est le suivant:

1. Rotation de vitesse ! autour de y0
<latexit sha1_base64="p63s+WldQN0HCVdnsn1Q2WsX6Co=">AAACiHicbVFNT9wwEPWGQmnK17ZHLhG7lTitYiQEvVHKoZcKKrGAtImQ40wWa2PHtZ1tF8u/o9f2Z/Xf1NnNgUBHsvz05s3MsyeTJdMmjv/2grVX6xuvN9+Eb7e2d3b3+u9udFUrCmNalZW6y4iGkgkYG2ZKuJMKCM9KuM1mn5v87RyUZpW4NgsJKSdTwQpGifFUOhyGScVhSsLhMLrfG8SjeBnRS4BbMEBtXN33e5DkFa05CENLovUEx9KklijDaAkuTGoNktAZmcLEQ0E46NQuXbvog2fyqKiUP8JES/ZphSVc6wXPvJIT86Cf5xryv7lcNw07022jUrrQXbaWUwUw6xrN50zq1urPldfuQ0xxmlomZG1AUBdFYSLgB604JyK3yRyMm+DUJiB0raAZbG3SXFkRDbBzvtsF+O9S8NWTn0r5QDIwK4l8pM5eXmNnl4g7y/xD/GLw8zW8BDdHI3w8ir8dDc5wu6JNtI8O0CHC6ASdoS/oCo0RRd/RL/Qb/QnCIA5Ogo8radBra96jTgTn/wC/+8kM</latexit>
<latexit sha1_base64="nj+0WyDRt/0hpTfkA/fKhNxaXmg=">AAAChXicbVFdb9MwFHXDR0fGYINHXiJaJF5WJdX4eGOIPfCCKFK7VWuiynFuWquxY9lOt2L5X/DK/hf/BqfNA+m4kuWjc8+999g3FQVVOgz/dLwHDx897h488Q+fHj17fnzy4lKVlSQwIWVRymmKFRSUw0RTXcBUSMAsLeAqXX2p81drkIqWfKw3AhKGF5zmlGDtqOt+39/MQ7/fD+bHvXAQbiO4D6IG9FATo/lJB+KsJBUDrkmBlZpFodCJwVJTUoD140qBwGSFFzBzkGMGKjFbyzZ445gsyEvpDtfBlv23wmCm1IalTsmwXqr9XE3+N5epumFruqlVUuWqzVZiIQFWbaPZmgrVWL3deW0/ROcfE0O5qDRwYoPAjznckJIxzDMTr0HbWZSYGLiqJNSDjYnrK82DXmSt63YB7rskfHPk50IscQp6JxE/iTXfx5E1W8Ssoe4hbjHR/hrug8vhIHo3CH8Me+fDZkUH6BV6jd6iCH1A5+grGqEJIoijX+g3uvO63ql35r3fSb1OU/MStcL79BdppseS</latexit>
<latexit sha1_base64="p63s+WldQN0HCVdnsn1Q2WsX6Co=">AAACiHicbVFNT9wwEPWGQmnK17ZHLhG7lTitYiQEvVHKoZcKKrGAtImQ40wWa2PHtZ1tF8u/o9f2Z/Xf1NnNgUBHsvz05s3MsyeTJdMmjv/2grVX6xuvN9+Eb7e2d3b3+u9udFUrCmNalZW6y4iGkgkYG2ZKuJMKCM9KuM1mn5v87RyUZpW4NgsJKSdTwQpGifFUOhyGScVhSsLhMLrfG8SjeBnRS4BbMEBtXN33e5DkFa05CENLovUEx9KklijDaAkuTGoNktAZmcLEQ0E46NQuXbvog2fyqKiUP8JES/ZphSVc6wXPvJIT86Cf5xryv7lcNw07022jUrrQXbaWUwUw6xrN50zq1urPldfuQ0xxmlomZG1AUBdFYSLgB604JyK3yRyMm+DUJiB0raAZbG3SXFkRDbBzvtsF+O9S8NWTn0r5QDIwK4l8pM5eXmNnl4g7y/xD/GLw8zW8BDdHI3w8ir8dDc5wu6JNtI8O0CHC6ASdoS/oCo0RRd/RL/Qb/QnCIA5Ogo8radBra96jTgTn/wC/+8kM</latexit>
!
v O0
<latexit sha1_base64="/p0jdiL7wgHfRR0KxRkLFdkXCGQ=">AAAChXicbVFNT9wwEPWmtED6BfTIJWIXiUtXMerXrSB64IIAiQXUTbRynMlibexYtrOFWv4Xvbb/q/8GZzcHAoxk+enNm5lnTyZLpk0c/+8FL1ZevlpdWw9fv3n77v3G5talrmpFYUSrslLXGdFQMgEjw0wJ11IB4VkJV9nsqMlfzUFpVokLcych5WQqWMEoMZ76ORiEp5M4HAyiyUY/HsaLiJ4C3II+auNsstmDJK9ozUEYWhKtxziWJrVEGUZLcGFSa5CEzsgUxh4KwkGndmHZRbueyaOiUv4IEy3YhxWWcK3veOaVnJgb/TjXkM/mct007Ey3jUrpQnfZWk4VwKxrNJ8zqVurt0uv3YeY4ltqmZC1AUFdFIWJgF+04pyI3CZzMG6MU5uA0LWCZrC1SXNlRdTHzvluP8B/l4ITTx6W8oZkYJYS+Zs6e3qBnV0g7izzD/GLwY/X8BRc7g/x52F8vt8/wO2K1tA22kF7CKOv6AAdozM0QhQJ9Af9Rf+C1eBj8Cn4spQGvbbmA+pE8P0eEG3HZw==</latexit>
2. Translation de vitesse v suivant y0

<latexit sha1_base64="OaKwnDp44SUxxaBEGwGAaIF267Y=">AAACg3icbVFNa9wwENW6TZo6H920x15MdwOBwGIvKc0lkJIeeilNIZssrE2Q5fFGrCQLSd4kFfoTubZ/rP+m8q4PddIBocebNzNPmlwyqk0c/+kFL15ubL7aeh1u7+zuvenvv73SVa0ITEjFKjXNsQZGBUwMNQymUgHmOYPrfHHe5K+XoDStxKV5kJBxPBe0pAQbT02Hw3AZDofRTX8Qj+JVRM9B0oIBauPiZr8HaVGRmoMwhGGtZ0ksTWaxMpQwcGFaa5CYLPAcZh4KzEFndmXYRQeeKaKyUv4IE63Yfyss5lo/8NwrOTa3+mmuIf+bK3TTsDPdNiqlS91lazlXAIuu0WJJpW6t3q+9dh9iypPMUiFrA4K4KApTAXek4hyLwqZLMG6WZDYFoWsFzWBr0+bKy2iQOOe7fQH/XQq+efIzk7c4B7OWyJ/E2e+XibMrxJ2l/iF+McnTNTwHV+NR8nEU/xgPzsbtirbQe/QBHaIEfUJn6Cu6QBNEEEOP6Bf6HWwER8E4OF5Lg15b8w51Ijj9C+iNxuw=</latexit>
<latexit sha1_base64="nj+0WyDRt/0hpTfkA/fKhNxaXmg=">AAAChXicbVFdb9MwFHXDR0fGYINHXiJaJF5WJdX4eGOIPfCCKFK7VWuiynFuWquxY9lOt2L5X/DK/hf/BqfNA+m4kuWjc8+999g3FQVVOgz/dLwHDx897h488Q+fHj17fnzy4lKVlSQwIWVRymmKFRSUw0RTXcBUSMAsLeAqXX2p81drkIqWfKw3AhKGF5zmlGDtqOt+39/MQ7/fD+bHvXAQbiO4D6IG9FATo/lJB+KsJBUDrkmBlZpFodCJwVJTUoD140qBwGSFFzBzkGMGKjFbyzZ445gsyEvpDtfBlv23wmCm1IalTsmwXqr9XE3+N5epumFruqlVUuWqzVZiIQFWbaPZmgrVWL3deW0/ROcfE0O5qDRwYoPAjznckJIxzDMTr0HbWZSYGLiqJNSDjYnrK82DXmSt63YB7rskfHPk50IscQp6JxE/iTXfx5E1W8Ssoe4hbjHR/hrug8vhIHo3CH8Me+fDZkUH6BV6jd6iCH1A5+grGqEJIoijX+g3uvO63ql35r3fSb1OU/MStcL79BdppseS</latexit>
<latexit sha1_base64="OaKwnDp44SUxxaBEGwGAaIF267Y=">AAACg3icbVFNa9wwENW6TZo6H920x15MdwOBwGIvKc0lkJIeeilNIZssrE2Q5fFGrCQLSd4kFfoTubZ/rP+m8q4PddIBocebNzNPmlwyqk0c/+kFL15ubL7aeh1u7+zuvenvv73SVa0ITEjFKjXNsQZGBUwMNQymUgHmOYPrfHHe5K+XoDStxKV5kJBxPBe0pAQbT02Hw3AZDofRTX8Qj+JVRM9B0oIBauPiZr8HaVGRmoMwhGGtZ0ksTWaxMpQwcGFaa5CYLPAcZh4KzEFndmXYRQeeKaKyUv4IE63Yfyss5lo/8NwrOTa3+mmuIf+bK3TTsDPdNiqlS91lazlXAIuu0WJJpW6t3q+9dh9iypPMUiFrA4K4KApTAXek4hyLwqZLMG6WZDYFoWsFzWBr0+bKy2iQOOe7fQH/XQq+efIzk7c4B7OWyJ/E2e+XibMrxJ2l/iF+McnTNTwHV+NR8nEU/xgPzsbtirbQe/QBHaIEfUJn6Cu6QBNEEEOP6Bf6HWwER8E4OF5Lg15b8w51Ijj9C+iNxuw=</latexit>
x0
<latexit sha1_base64="BnvSBob1TKoSLIuL+knSnkuoXc8=">AAAChXicbVFNT9wwEPWGFmhaPnvsJeouEhdWMQLaG1TtoZeqVGIBdROtHGeyWBs7lu0sUMv/giv9X/03dXZzaKAjWX5682bm2ZPJkmkTx396wcqLl6tr66/C1282Nre2d3YvdVUrCiNalZW6zoiGkgkYGWZKuJYKCM9KuMpmn5v81RyUZpW4MPcSUk6mghWMEuOpn4NBeDeJw8Egmmz342G8iOg5wC3oozbOJzs9SPKK1hyEoSXReoxjaVJLlGG0BBcmtQZJ6IxMYeyhIBx0aheWXbTnmTwqKuWPMNGC/bfCEq71Pc+8khNzo5/mGvK/uVw3DTvTbaNSutBdtpZTBTDrGs3nTOrW6t3Sa/chpviYWiZkbUBQF0VhIuCWVpwTkdtkDsaNcWoTELpW0Ay2NmmurIj62Dnf7Qv471LwzZOfSnlDMjBLifxFnf1+gZ1dIO4s8w/xi8FP1/AcXB4O8fEw/nHYP8PtitbRO/Qe7SOMPqAz9BWdoxGiSKAH9Ih+B2vBQXAUnCylQa+teYs6EZz+BWc7x5A=</latexit>
3. Pour t = 0 , repère 0 ⌘ repère 1

<latexit sha1_base64="VyCHFNWasOIrnB9Asdy5IrqrDY0=">AAACh3icbVFNT9wwEPWmLd1NC4X22IvVXSROS7ISLRckED30UpVKLCBtIuQ4k8Xa2LFsZ/mw/De4tn+r/6bObg4NdCTLT2/ezDx7MlkybaLoTy948fLVxuv+IHzzdnPr3fbO+wtd1YrClFZlpa4yoqFkAqaGmRKupALCsxIus8Vpk79cgtKsEufmXkLKyVywglFiPJWMRqHBRzgKRyN8vT2MxtEq8HMQt2CI2ji73ulBkle05iAMLYnWsziSJrVEGUZLcGFSa5CELsgcZh4KwkGndmXa4V3P5LiolD/C4BX7b4UlXOt7nnklJ+ZGP8015H9zuW4adqbbRqV0obtsLecKYNE1mi+Z1K3Vu7XX7kNMcZhaJmRtQFCHcZgIuKUV50TkNlmCcbM4tQkIXStoBlubNFdW4GHsnO/2Ffx3KfjuyZNS3pAMzFoiH6izP85jZ1eIO8v8Q/xi4qdreA4uJuP4YBz9nAyPJ+2K+ugj+oT2UIy+oGP0DZ2hKaJIokf0C/0OBsF+8Dk4XEuDXlvzAXUiOPkL65XHvw==</latexit>
<latexit sha1_base64="13JbilPiufNt4fVtpGDT4B5Wb+A=">AAACiHicbVFNT9wwEPWGFmhKgaVHLhG7lTitkpUQcOPr0EsFlVhA2kTIcSaLtbFjbGfbxfLv6LX8LP5Nnd0cCHQky09v3sw8e1JRUKXD8KXjrXz4uLq2/sn/vPFlc2u7u3OjykoSGJGyKOVdihUUlMNIU13AnZCAWVrAbTo9r/O3M5CKlvxazwUkDE84zSnB2lFJv+/H8FjRmd/vB/fbvXAQLiJ4D6IG9FATV/fdDsRZSSoGXJMCKzWOQqETg6WmpADrx5UCgckUT2DsIMcMVGIWrm3wzTFZkJfSHa6DBfu6wmCm1JylTsmwflBvczX531ym6oat6aZWSZWrNluJiQSYto1mMypUY/X30mv7ITo/SgzlotLAiQ0CP+bwi5SMYZ6ZeAbajqPExMBVJaEebExcX2ke9CJrXbcLcN8l4YcjTwvxgFPQS4l4ItZcXkfWLBCzhrqHuMVEb9fwHtwMB9HBIPw57J0MmxWto120h/ZRhA7RCfqOrtAIEfSI/qC/6NnzvdA79I6XUq/T1HxFrfDO/gEF+cku</latexit>
ṗ0 (0) = [0, v, !]T

<latexit sha1_base64="3OyA2ETmo0Ik0EYlzF6aRsVkodE=">AAACrHicbVHLbtQwFPWEVwmvKSzZWMwgFalMk0qIbpCKYMEGUaSZtlKSjhznZmpN7Fi2M6VY/gy+hi18BH+Dk2ZBWq505aNz3z65rJg2UfRnFNy6fefuva374YOHjx4/GW8/PdZ1oygsaF3V6jQnGiomYGGYqeBUKiA8r+AkX39o4ycbUJrVYm4uJWScrAQrGSXGU8vx3nQapkVtbLoBY6VzZ9FO9Aq/w0m0m+5uvL9Oaw4rkp3Nw+kUL8eTaBZ1hm+CuAcT1NvRcnsEvj9tOAhDK6J1EkfSZJYow2gFLkwbDZLQNVlB4qEgHHRmu8scfumZApe18i4M7th/KyzhWl/y3GdyYs719VhL/jdW6LbhYLpts5Qu9ZBt5EoBrIeLFhsmdb/qt6tdh4eY8iCzTMjGgKAO4zAVcEFrzokour92SZzZFIRuFLSDrU3bJy/xJHbOd/sI/rsUfPbk+0qek9zr06XI79TZL/PY2Q5xZ5k/xAsTX5fhJjjen8VvZtHX/clh3Eu0hZ6jF2gHxegtOkSf0BFaIIp+oJ/oF/odzIJ5kATZVWow6mueoYEF5V9TbdVw</latexit>
Nous avons que: z0

<latexit sha1_base64="INXRXvc8majNofbNgtNbJ7P+ppU=">AAAChXicbVFNT9wwEPWmtED6Be2RS8QuEpeuYtSvW6naAxcESCygbqKV40wWa2PHsp1twfK/4Er/F/8GZzcHAoxk+enNm5lnTyZLpk0c3/WCFysvX62urYev37x9935j88OZrmpFYUSrslIXGdFQMgEjw0wJF1IB4VkJ59nsV5M/n4PSrBKn5kpCyslUsIJRYjz1ZzAIrydxOBhEk41+PIwXET0FuAV91MbxZLMHSV7RmoMwtCRaj3EsTWqJMoyW4MKk1iAJnZEpjD0UhINO7cKyi3Y8k0dFpfwRJlqwDyss4Vpf8cwrOTGX+nGuIZ/N5bpp2JluG5XShe6ytZwqgFnXaD5nUrdW/y29dh9iiu+pZULWBgR1URQmAv7SinMicpvMwbgxTm0CQtcKmsHWJs2VFVEfO+e7/Qb/XQoOPfmzlJckA7OUyGvq7NEpdnaBuLPMP8QvBj9ew1NwtjfEX4bxyV5/H7crWkNbaBvtIoy+oX10gI7RCFEk0A26Rf+D1eBT8Dn4upQGvbbmI+pE8OMea3fHkg==</latexit>
<latexit sha1_base64="Q/1Xz/9XWNqdwsWSfzbYCaGtm1U=">AAAERHicnVLbbtNAEN3EXIq5tfDIy4oEFKQ08lZCICGkInjgBVGgaStl3Wq9Hjur+CbvOrSs9vf6D/wDb4hXxNqJVNxElWAle0czZ+acmdmgSIRUnve903WuXb9xc+OWe/vO3Xv3N7ceHMi8KjmMeZ7k5VHAJCQig7ESKoGjogSWBgkcBrO3dfxwDqUUebavzgrwUxZnIhKcKes62eqc9/sunYPSn80JOfYG6hmmw9cuTSBSEzp0aQCxyHTKVClOjUt5Lgc0TyFm2EKfYg/bH5Uiu/DSuSwYB+2NCOGpodT1LIbU4NXQdju3qWgLtmhcCll4IWFISxFPlT+krzAN8iSUZ6m99ALftHFlD2tULFLXCL+Kup5a/l90c/WPVGGudMNXGHNMajo6XAjwjNvvY/dks+eNvObgVYMsjR5anj27ebBVeZVCpnjCpJwQr1C+ZqUSPAEroJJgJc5YDBNrZiwF6evmxRn8xHpCHOWl/TKFG+/fGZqlst6KRdqGpvJyrHaujYWyLthir0cyLWUk296qiEuAWVtoOBeFXEo9XWhtN6Kil74WWVEpyLjB2KUZfOV5mjI7+3qgZkJ8bTchqxJqYq1pfQUR7hFjbLV3YMdVwgfrfJMUUxbYJTSQ4hs3+uM+MbqxUqOFbcQuhlxew6pxsDMiz0fep53eLlmuaAM9Qo/RABH0Au2i92gPjRHvbne/dGnXd86dH85P59cC2u0scx6i1nF+/wHWAGFA</latexit>
2 2 3 3 3 2
cos(!t) 0 sin(!t) 0 0
6 7 6 7 6 7
R01 (t) = 4 0 1 0 5 , ! 01 = 4 ! 5 , o01 = 4 vt 5 , ṗ1 = 0 En particulier,
à l’instant initial
sin(!t) 0 cos(!t) 0 0
2 3 2
<latexit sha1_base64="wKXy4YfzJ5j6QT6zBP/WtUqg/vw=">AAAE1XiclVNNb9NAEHWMgWK+GjhyWUhARU0jbyUEF6QiOHBBFNQ0lbJptN6MnVX8Je8mtKz2hrjyj/gf3LnCb2DtmJY0joCV1h7Nm33zZmbXzyIupOd9a9iXnMtXrm5cc6/fuHnr9mbzzqFIZzmDHkujND/yqYCIJ9CTXEZwlOVAYz+Cvj99WeD9OeSCp8mBPM1gGNMw4QFnVBrXqGn3222XjFOpyBykyrQ+9rbkY0Q6z0kHnQOp1iP8G9pegt6fQaRTkRxj5JYMLokgkIPC8CHkiYqpzPmJdj0yFxlloLwuxizWhLjzVZfnEkjGZ4cMf87DiRyi7bXEOySNIaRE8GRrYSKj+RHykPlUGEvFOVaTtQw3exXaqWOowmszrymA3F+nH9fo+Y/G/KXttRr/aRS1la9R4bbbaLTZ8rpeudCqgSujZVVrf9RsgLlTbBZDIllEhRhgL5NDRXPJWQSGfibAiJrSEAbGTGgMYqjKJ6DRQ+MZoyDNzU4kKr1/nlA0FuI09k2kkTsRF7HCWYuNRUG4lL0oeJKLQCx7Z1mYA0yXhY7nPBOV1JOF1uVCZPBsqHiSzSQkTCMzwAQ+sDSOqels8Zz0AA+V6bOY5VAkVooUPz9ALay1YXsFpl05vDHOF1E2ob55gmVI9pFp9fYAa1VasVbcFGIGgy+OYdU43O3iJ13v3W5rz6tGtGHdsx5YWxa2nlp71mtr3+pZzP5qf7d/2D+dvqOdT87nRajdqM7ctZaW8+UXvJOUTw==</latexit>
donc 32 3 2 3
0 ! sin(!t) 0 ! cos(!t) 1 ! sin(!t)
6 7 6 76 7 6 7
ṗ0 (t) = ȯ01 (t) + Ṙ01 (t) p1 = 4 v 5+4 0 0 0 54 0 5 = 4 v 5
0 ! cos(!t) 0 ! sin(!t) 0 ! cos(!t)
y1
<latexit sha1_base64="nlRbGC1xw++IpaBzuRHrj3sGK9s=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcSXULqcCCVggCuq0lSbRyHFuptbEjmU7QwfLC76m2/I5/A1OJgvScqUrH5177ss3kyXTJo7/DIJ79x883Nl9FD5+8vTZ8+HeizNd1YrCjFZlpS4yoqFkAmaGmRIupALCsxLOs9X7Jn6+BqVZJU7NRkLKyVKwglFiPLUY7o/HYWLgyrSlrILc2c0Cu3A8jhbDUTyJW4vuAtyBEersZLE3gCSvaM1BGFoSrec4lia1RBlGS3BhUmuQhK7IEuYeCsJBp7Zt7aI3nsmjolLehYla9t8MS7jWG555JSfmUt+ONeR/Y7luCva620aldKH7bC2XCmDVHzRfM6m7Ua+2s/YXMcVRapmQtQFBXRSFiYAftOKciNwmazBujlObgNC1gqaxtUnzZEU0ws75ah/Af5eCL548LuUlycBsJfIndfbrKXa2RdxZ5hfxh8G3z3AXnB1M8LtJ/O1gNMXdiXbRPnqN3iKMDtEUfUInaIYo+oWu0Q36HbwKpsHH4PNWGgy6nJeoZ8H3v3G+z9g=</latexit>
Cinématique Solide
Définition (torseur cinématique)
O1
<latexit sha1_base64="8LzY2rWTniGbM5VNZS3zwn9DN+o=">AAACmHicbVHLbtQwFPWkPEp4TWFHN1FnkFiN4koIloNAAhZVC+q0lSbRyHFuptbEjmU7Q1vLC76GLXxO/6ZOJgvS9kqWj84992GfTJZMmzi+HgRbDx4+erz9JHz67PmLl8OdVye6qhWFGa3KSp1lREPJBMwMMyWcSQWEZyWcZqvPTf50DUqzShybSwkpJ0vBCkaJ8dRiuDseh4mBC9O2sgpyZw8X2IXjcbQYjuJJ3EZ0F+AOjFAXR4udASR5RWsOwtCSaD3HsTSpJcowWoILk1qDJHRFljD3UBAOOrXtaBe99UweFZXyR5ioZf+vsIRrfckzr+TEnOvbuYa8N5frpmFvum1UShe6z9ZyqQBW/UXzNZO6W/Vis2v/Iab4mFomZG1AUBdFYSLgF604JyK3yRqMm+PUJiB0raAZbG3SXFkRjbBzvtsX8N+l4MCTn0p5TjIwG4m8ot6PY+xsi7izzD/EG4Nv23AXnOxP8PtJ/GN/NMWdRdtoF+2hdwijD2iKvqEjNEMU/UZ/0F/0L3gTTIOvwfeNNBh0Na9RL4KfNxioz64=</latexit>
Soit le repère 0 fixe et le repère 1 attaché à un solide x1

<latexit sha1_base64="Xl9sVS1WVVBJgDxOHZR2mpSSKBw=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcSXULqcCCVggCuq0lSbRyHFuptbEjmU7wxTLC76m2/I5/A1OJgvScqUrH5177ss3kyXTJo7/DIJ79x883Nl9FD5+8vTZ8+HeizNd1YrCjFZlpS4yoqFkAmaGmRIupALCsxLOs9X7Jn6+BqVZJU7NlYSUk6VgBaPEeGox3B+Pw8TAxrSlrILc2c0Cu3A8jhbDUTyJW4vuAtyBEersZLE3gCSvaM1BGFoSrec4lia1RBlGS3BhUmuQhK7IEuYeCsJBp7Zt7aI3nsmjolLehYla9t8MS7jWVzzzSk7Mpb4da8j/xnLdFOx1t41K6UL32VouFcCqP2i+ZlJ3o262s/YXMcVRapmQtQFBXRSFiYAftOKciNwmazBujlObgNC1gqaxtUnzZEU0ws75ah/Af5eCL548LuUlycBsJfIndfbrKXa2RdxZ5hfxh8G3z3AXnB1M8LtJ/O1gNMXdiXbRPnqN3iKMDtEUfUInaIYo+oWu0Q36HbwKpsHH4PNWGgy6nJeoZ8H3v2+fz9c=</latexit>
indéformable. Le torseur cinématique décrivant

le mouvement du solide par rapport au repère 0 z1
<latexit sha1_base64="td2Mx+TljKkdwZWEgkRxUhrqXAc=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGcaWKLgeBBCwQLeq0lSbRyHFuptbEjmU7Q1vLC76m2/I5/A1OJoum5UpXPjr33JdvJkumTRz/HQQPHj56vLX9JHz67PmLl8OdVye6qhWFGa3KSp1lREPJBMwMMyWcSQWEZyWcZqtPTfx0DUqzShybSwkpJ0vBCkaJ8dRiuDseh4mBC9OWsgpyZ68W2IXjcbQYjuJJ3Fp0H+AOjFBnh4udASR5RWsOwtCSaD3HsTSpJcowWoILk1qDJHRFljD3UBAOOrVtaxe980weFZXyLkzUsrczLOFaX/LMKzkx5/purCH/G8t1U7DX3TYqpQvdZ2u5VACr/qD5mkndjXqxmbW/iCkOUsuErA0I6qIoTAT8ohXnROQ2WYNxc5zaBISuFTSNrU2aJyuiEXbOV/sM/rsUfPfkx1KekwzMRiKvqLM/jrGzLeLOMr+IPwy+e4b74GRvgvcn8dHeaIq7E22jXfQWvUcYfUBT9BUdohmi6De6RjfoT/AmmAZfgm8baTDocl6jngU//wFz3c/Z</latexit>
est défini par: " # <latexit sha1_base64="oNkyzds8i2+W1Up7wVDwoG1mA0Q=">AAADT3icdVJNj9MwEE1aPnbDx3bhyMVLi4REVSUrLexxERy4IBa07a5Up5XjTlKrsRNsp1As/0i48Uu4IZw0B7oLI1l5ejP2vJmXpMyZ0mH40+90b92+c3dvP7h3/8HDg97ho4kqKklhTIu8kFcJUZAzAWPNdA5XpQTCkxwuk9WbOn+5BqlYIS70poSYk0ywlFGiHTXv/RgMAsyJXlKSm4lFeIi1ZERkOXzGwwDnkOopPsJHAU4gY8IQKcnGGmoDvCi0wWvQprB2Fs4jd/kFHqKW2jKacVAIJ0W+UBvuPgYXHDLSpPFalYSCCUfRCeUW4+A/hQEGsWhbB7UaLFm21DHCTKBGfpKYT3b2MhgM0LzXD0dhE+gmiFrQ99o4nx/64GahFQehaU6UmkZhqWPXTzOag+tYKXBCVySDqYOCuJli0yzfomeOWaC0kO4IjRr27xuGcFVP5Cproep6rib/mVuo+sGd7qaukipVu2xVZhJgtSt0sWalaqV+3WrdHUSnp7Fhoqw0CGoRCrCAL7TgnLhd1ybaaRQbt3lVSagbG7NddYr6kbXutbfg1iXhvSNf5+WSJM74pqT8Rq35cBFZ0yBuDXODOGOi6zbcBJNj9zeMwo/H/bOT1qI974n31HvuRd4r78x75517Y4/6p/7Mz/xl53vnV+d3ty3t+C147O1Ed/8PW74S7Q==</latexit>
o01
<latexit sha1_base64="G6nsORSBiHGH31Ldw2cmvShfVM8=">AAACj3icbVFNb9MwGHbDgBE+1o4jl2jtJE5VPGnaTqgIDnBAbNK6TWqyynHedFZjx7KdsmH5r3CFv8S/wclyWDZeyfKj5/1+n0yWTJs4/jsInmw9ffZ8+0X48tXrNzvD0e65rmpFYU6rslKXGdFQMgFzw0wJl1IB4VkJF9n6U+O/2IDSrBJn5lZCyslKsIJRYjy1HO5OJmGyAWMrdxUvcTiZRMvhOJ7GrUWPAe7AGHV2shwNIMkrWnMQhpZE6wWOpUktUYbRElyY1BokoWuygoWHgnDQqW2Hd9G+Z/KoqJR/wkQtez/DEq71Lc98JCfmWj/0NeR/fbluCva62yZK6UL32VquFMC6P2i+YVJ3o97czdpfxBTHqWVC1gYEdVEUJgJ+0IpzInLb3NQtcGoTELpW0DS2Nmm+rIjG2Dlf7TP4cyn45smPpbwmmdehDZE/qbPfz7CzLeLOMr+IFwY/lOExOD+Y4sNpfHownuFOom30Du2h9wijIzRDX9AJmiOKbtAv9Bv9CUbBUfAhmN2FBoMu5y3qWfD1H+Diyzo=</latexit>
<latexit sha1_base64="INXRXvc8majNofbNgtNbJ7P+ppU=">AAAChXicbVFNT9wwEPWmtED6Be2RS8QuEpeuYtSvW6naAxcESCygbqKV40wWa2PHsp1twfK/4Er/F/8GZzcHAoxk+enNm5lnTyZLpk0c3/WCFysvX62urYev37x9935j88OZrmpFYUSrslIXGdFQMgEjw0wJF1IB4VkJ59nsV5M/n4PSrBKn5kpCyslUsIJRYjz1ZzAIrydxOBhEk41+PIwXET0FuAV91MbxZLMHSV7RmoMwtCRaj3EsTWqJMoyW4MKk1iAJnZEpjD0UhINO7cKyi3Y8k0dFpfwRJlqwDyss4Vpf8cwrOTGX+nGuIZ/N5bpp2JluG5XShe6ytZwqgFnXaD5nUrdW/y29dh9iiu+pZULWBgR1URQmAv7SinMicpvMwbgxTm0CQtcKmsHWJs2VFVEfO+e7/Qb/XQoOPfmzlJckA7OUyGvq7NEpdnaBuLPMP8QvBj9ew1NwtjfEX4bxyV5/H7crWkNbaBvtIoy+oX10gI7RCFEk0A26Rf+D1eBT8Dn4upQGvbbmI+pE8OMea3fHkg==</latexit>
z0
0 0 0
ȯ1 + o1 ⇥ ! 1
V , 2 R 6
! 01
x0 O0
<latexit sha1_base64="/p0jdiL7wgHfRR0KxRkLFdkXCGQ=">AAAChXicbVFNT9wwEPWmtED6BfTIJWIXiUtXMerXrSB64IIAiQXUTbRynMlibexYtrOFWv4Xvbb/q/8GZzcHAoxk+enNm5lnTyZLpk0c/+8FL1ZevlpdWw9fv3n77v3G5talrmpFYUSrslLXGdFQMgEjw0wJ11IB4VkJV9nsqMlfzUFpVokLcych5WQqWMEoMZ76ORiEp5M4HAyiyUY/HsaLiJ4C3II+auNsstmDJK9ozUEYWhKtxziWJrVEGUZLcGFSa5CEzsgUxh4KwkGndmHZRbueyaOiUv4IEy3YhxWWcK3veOaVnJgb/TjXkM/mct007Ey3jUrpQnfZWk4VwKxrNJ8zqVurt0uv3YeY4ltqmZC1AUFdFIWJgF+04pyI3CZzMG6MU5uA0LWCZrC1SXNlRdTHzvluP8B/l4ITTx6W8oZkYJYS+Zs6e3qBnV0g7izzD/GLwY/X8BRc7g/x52F8vt8/wO2K1tA22kF7CKOv6AAdozM0QhQJ9Af9Rf+C1eBj8Cn4spQGvbbmA+pE8P0eEG3HZw==</latexit>
Deux cas spéciaux:

<latexit sha1_base64="BnvSBob1TKoSLIuL+knSnkuoXc8=">AAAChXicbVFNT9wwEPWGFmhaPnvsJeouEhdWMQLaG1TtoZeqVGIBdROtHGeyWBs7lu0sUMv/giv9X/03dXZzaKAjWX5682bm2ZPJkmkTx396wcqLl6tr66/C1282Nre2d3YvdVUrCiNalZW6zoiGkgkYGWZKuJYKCM9KuMpmn5v81RyUZpW4MPcSUk6mghWMEuOpn4NBeDeJw8Egmmz342G8iOg5wC3oozbOJzs9SPKK1hyEoSXReoxjaVJLlGG0BBcmtQZJ6IxMYeyhIBx0aheWXbTnmTwqKuWPMNGC/bfCEq71Pc+8khNzo5/mGvK/uVw3DTvTbaNSutBdtpZTBTDrGs3nTOrW6t3Sa/chpviYWiZkbUBQF0VhIuCWVpwTkdtkDsaNcWoTELpW0Ay2NmmurIj62Dnf7Qv471LwzZOfSnlDMjBLifxFnf1+gZ1dIO4s8w/xi8FP1/AcXB4O8fEw/nHYP8PtitbRO/Qe7SOMPqAz9BWdoxGiSKAH9Ih+B2vBQXAUnCylQa+teYs6EZz+BWc7x5A=</latexit>
y0
<latexit sha1_base64="E2E4STAiwciWYsHnIp2KaXB3HjI=">AAAChXicbVFNT9wwEPWmtND0C9pjLxG7lXrpKka05QaoHHqpAIkF1E20cpzJYm3sWLazsFj+F72W/9V/U2c3BwKMZPnpzZuZZ08mS6ZNHP/rBc/Wnr9Y33gZvnr95u27za3357qqFYURrcpKXWZEQ8kEjAwzJVxKBYRnJVxksx9N/mIOSrNKnJmFhJSTqWAFo8R46vdgEC4mcTgYRJPNfjyMlxE9BrgFfdTGyWSrB0le0ZqDMLQkWo9xLE1qiTKMluDCpNYgCZ2RKYw9FISDTu3Ssos+eSaPikr5I0y0ZO9XWMK1XvDMKzkxV/phriGfzOW6adiZbhuV0oXusrWcKoBZ12g+Z1K3Vm9WXrsPMcVeapmQtQFBXRSFiYBrWnFORG6TORg3xqlNQOhaQTPY2qS5siLqY+d8tyPw36XglycPS3lFMjAribylzh6fYWeXiDvL/EP8YvDDNTwG5ztD/HUYn+70D3C7og30EW2jzwij7+gA/UQnaIQoEugP+ovugvXgS7AbfFtJg15b8wF1Itj/D2lZx5E=</latexit>
1) Si o01 est constant, c’est-à-dire ȯ01 = 0, alors le torseur

<latexit sha1_base64="G6nsORSBiHGH31Ldw2cmvShfVM8=">AAACj3icbVFNb9MwGHbDgBE+1o4jl2jtJE5VPGnaTqgIDnBAbNK6TWqyynHedFZjx7KdsmH5r3CFv8S/wclyWDZeyfKj5/1+n0yWTJs4/jsInmw9ffZ8+0X48tXrNzvD0e65rmpFYU6rslKXGdFQMgFzw0wJl1IB4VkJF9n6U+O/2IDSrBJn5lZCyslKsIJRYjy1HO5OJmGyAWMrdxUvcTiZRMvhOJ7GrUWPAe7AGHV2shwNIMkrWnMQhpZE6wWOpUktUYbRElyY1BokoWuygoWHgnDQqW2Hd9G+Z/KoqJR/wkQtez/DEq71Lc98JCfmWj/0NeR/fbluCva62yZK6UL32VquFMC6P2i+YVJ3o97czdpfxBTHqWVC1gYEdVEUJgJ+0IpzInLb3NQtcGoTELpW0DS2Nmm+rIjG2Dlf7TP4cyn45smPpbwmmdehDZE/qbPfz7CzLeLOMr+IFwY/lOExOD+Y4sNpfHownuFOom30Du2h9wijIzRDX9AJmiOKbtAv9Bv9CUbBUfAhmN2FBoMu5y3qWfD1H+Diyzo=</latexit> <latexit sha1_base64="NA4aF6gbYRY/6wizQ6NBbtaCMMM=">AAACn3icbVHLbtQwFPWEVwmvKSzZmM4gsRrFlSrYIBWBBBtgkDpt0SSMHOdmak3sWLYzUCzv+Rq28Cv8DU6aBWm5kuXjc899+eaq4sYmyZ9RdO36jZu3dm7Hd+7eu/9gvPvw2NSNZrBgdVXr05waqLiEheW2glOlgYq8gpN887r1n2xBG17LI3uuIBN0LXnJGbWBWo33ptM4LWrr0i1YV3v/JVkR/BJ3z8TH0ylejSfJLOkMXwWkBxPU23y1O4KQkjUCpGUVNWZJEmUzR7XlrAIfp40BRdmGrmEZoKQCTOa6YTx+GpgCl7UOR1rcsf9GOCqMORd5UApqz8xlX0v+11eYNuGgumtV2pRmyDZqrQE2w0aLLVemb/XbRa/DQWz5InNcqsaCZB7jOJXwldVCUFl03+uXJHMpSNNoaAs7l7ZXXuIJ8T5kewPhuzS8D+SrSp3RPOygk6jvzLuPR8S7DgnveBgkLIZcXsNVcLw/Iwez5NP+5JD0K9pBj9EeeoYIeo4O0Ts0RwvE0A/0E/1Cv6Mn0dvoQzS/kEajPuYRGlj0+S8x5NHF</latexit>
est une rotation pure atour d’un axe, et le torseur devient:

<latexit sha1_base64="c2EJAqtFiU9TxAKqhhvfZ9qtPjM=">AAADHXicdVFNb9QwEHUClBI+uoUjF5ddJA6rVVJR4IJUBAcuiCJ1t5XWYeU4k6y1cRLZzsJi+bfAn+GGuCL+DU6aA9vCSFFGb57nzcxL6oIrHYa/Pf/a9Rs7N3dvBbfv3L23N9i/P1NVIxlMWVVU8jyhCgpewlRzXcB5LYGKpICzZPW6rZ+tQSpelad6U0MsaF7yjDOqHbQYfBuNAiKoXjJamJnFZPySjANSQKbn5IAcBCSBnJeGSkk31jAbkDVoU9mP4SLCRHMBCpOkKlK1Ee5nSCUgp12ZrFVNGZhwEh0xYQkJ/kMMCJRpLxG0qkTyfKnjYDTCi8EwnIRd4KtJ1CdD1MfJYt8DklasEVBqVlCl5lFY69i115wV4AQaBW6uFc1h7tKSuhVi053S4scOSXFWSfeVGnfo3y8MFapdwDHbq6nLtRb8Zy1VbcMtddOypMrUNtrUuQRYbQ+arnmt+lE/X8y6vYjOXsSGl3WjoWQW44CU8IlVQlB32tYzO49i4w6tGgmtsDGd70mGh5G1rtsbcOeS8M6Br4p6SRPnc0epvzBr3p9G1nSZsIa7RZwx0WUbriazQ2f+JPxwODx+2lu0ix6iR+gJitBzdIzeohM0Rczb8cbekffM/+p/93/4Py+ovte/eYC2wv/1B2XnAK8=</latexit>
" #
o01 ⇥ ! 01
V =
! 01
2) Si ! 01 = 0 , c’est-à-dire le solide ne tourne pas, mais il glisse
<latexit sha1_base64="Iw97HEBfL4Xmq756SAi8oEKnL54=">AAACpXicbVHLbtQwFPWEVwmvKSzZWMwguhrFlSrYIBXBgk1FkWamlSYhcpw7U2tix7KdgWL5F/gatvAf/A1OmgVpuZLlo3Pf9xSq4sYmyZ9RdOv2nbv39u7HDx4+evxkvP90aepGM1iwuqr1eUENVFzCwnJbwbnSQEVRwVmxfd/6z3agDa/l3F4qyATdSL7mjNpA5eOD6TROi7oqzaUIn0trARvqvyQ5wW9xugPrEh9PpzgfT5JZ0hm+CUgPJqi303x/BGlZs0aAtKyixqxIomzmqLacVeDjtDGgKNvSDawClFSAyVy3kscvA1Pida3DkxZ37L8ZjgrTjhwiBbUX5rqvJf/rK01bcNDdtVHarM2QbdRGA2yHg5Y7rkw/6rerWYeL2PWbzHGpGguSeYzjVMJXVgtBZenae/oVyVwK0jQa2sbOpe1XrPGEeB+qfYBwLg0ngXxXqQtaBA26EPWdefdpTrzrkPCOh0WCMOS6DDfB8nBGjmbJ58PJMekl2kPP0Qt0gAh6jY7RR3SKFoihH+gn+oV+R6+ik2geLa9Co1Gf8wwNLMr/AiJm1EQ=</latexit>
dans la direction ȯ01 uniquement, le torseur devient:

<latexit sha1_base64="IY+j3iSmU7naQ3H/EXgV6LZx8gM=">AAAClXicbVFdb9MwFHUDgy0M1rEHJvES0SLxVMWVELwgDTEhXtCGtG6TmlA5zk1nNXYs2ykMy/s1vML/2b/ByfKwbFzJ8tG53/dksmTaxPH1IHjwcOPR482t8Mn202c7w93np7qqFYUZrcpKnWdEQ8kEzAwzJZxLBYRnJZxlq0+N/2wNSrNKnJhLCSknS8EKRonx1GK4Px6HSV4Zm6zB2Mq57/ECR+F4vBiO4kncWnQf4A6MUGfHi90B+EK05iAMLYnWcxxLk1qiDKMluDCpNUhCV2QJcw8F4aBT267goteeyaOiUv4JE7Xs7QxLuNaXPPORnJgLfdfXkP/15bop2OtumyilC91na7lUAKv+oPmaSd2N+vNm1v4ipnifWiZkbUBQF0VhIuAHrTgnIm+P6uY4tQkIXStoGlubNF9WRCPsnK92CP5cCr568mMpL0jmhWhD5C/q7NEJdrZF3FnmF/HC4Lsy3Aen0wl+O4m/TUcH006iTfQSvUJvEEbv0AH6go7RDFF0hX6jP+hv8CL4EBwGn29Cg0GXs4d6Fhz9A2dWzhI=</latexit>
<latexit sha1_base64="CFd1r4MwI6UBuyOPgUFTUvf/jXE=">AAADAnicbVHLjtMwFHXCawiPaWHHbDy0SCxGVTKAYIM0CBZsEIM07YxUh8pxb1qrsRPZTqFY3sHPsENs+RG+gZ/AyWRBZ7iSpatzX8fnZFXBtYnj30F45eq16zd2bka3bt+5u9vr35voslYMxqwsSnWWUQ0FlzA23BRwVimgIivgNFu9buqna1Cal/LEbCpIBV1InnNGjYdmvW/DYUQENUtGCztxmBy8JAcRKSA3U7JP9iOSwYJLS5WiG2eZi8i8NJaswdjSuY/xLCFrXVEGNh4lz5hwhERtNXYz+wQTwwVonPg5kPNuTdRsJoovlibF0XCIZ71BPIrbwJeTpEsGqIvjWT8Az4PVAqRhBdV6msSVSf1+w1kB/kKtwbNa0QVMfSqpZ5HaVi+HH3lkjvNS+ScNbtF/JywVWm9E5jsbafTFWgP+tzbXzcKt67bpUjrX22hdLRTAapvofM0r3VH9fM51+yMmf5FaLqvagGQO44hI+MRKIajXtlHdTZPUeqV1raA5bG1rbpbjQeKc3/YGvFwK3nnwVVEtaeadaluqL8zZ9yeJs20mnOX+I96Y5KINl5PJobd+FH84HBw97SzaQXvoIXqMEvQcHaG36BiNEUN/gn7wINgLv4bfwx/hz/PWMOhm7qOtCH/9BS7F9b4=</latexit>
" #
ȯ01
V = (glisseur)
03⇥1
23
Cinématique
• Le torseur cinématique représente la vitesse d’un solide comme une vitesse
angulaire autour d’un axe et une vitesse linéaire le long du même axe
Il permet de représenter de façon pratique le champ des vitesses
d'un solide indéformable en un instant donné
• Le torseur cinématique décrit la cinématique du solide

indépendamment des causes du mouvement
• La loi de composition des mouvements permet

de combiner plusieurs torseurs cinématiques
• Le torseur cinématique est un membre de la famille

des torseurs. D’autres torseurs utilisés en mécanique:
§ Torseur statique ou d’action (ensemble des
forces et des couples qui résultent de l’application
des lois de Newton sur un solide) Robert Stawell Ball
§ Torseur cinétique (1840-1913)
§ Torseur dynamique The Theory of Screws (1876)
Vocabulaire anglais:
torseur = screw, torseur cinématique = twist, torseur statique = wrench
24

RobInd Ch2p2

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RobInd Ch2p2

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Robotique Industrielle

UPJV, Département EEA

M1 3EA, Parcours RoVA, EC15

Lundi 13h30-16h30 (CM ou TD, salle CURI 305)

Année Universitaire 2021-2022

1.2 Constituants d’un robot

1.3 Classification des robots

1.4 Caractéristiques d’un robot

1.5 Générations de robots

1.6 Programmation des robots

1.7 Utilisation des robots

Chapitre 2 : Fondements Théoriques

2.1 Pose d’un corps rigide

Chapitre 3 : Modélisation d’un Robot

3.1 Modèle géométrique

3.2 Modèle cinématique

• [Rotation] Composantes des vecteurs unitaires du repère attaché au solide

• p , p : coordonnées du point P par rapport au repère 0 et 1, respectivement

• o1 : vecteur qui décrit l’origine du repère 1 par rapport au repère 0

• R1 : matrice de rotation du repère 1 par rapport au repère 0

On peut écrire la position du point P par rapport au repère 0, comme:

Transformation de coordonnées d’un

Remarque: Ce type de transformation conserve les distances.

• En pratique, on choisit un facteur d'échelle unitaire (à savoir w = 1)

• Pour avoir une représentation compacte de la relation entre les coordonnées

• Si on utilise cette représentation pour les vecteurs p et p , on peut écrire

2 R et 2 SO(3) , la matrice A01 appartient au groupe spécial

• La pose du repère 1 par rapport au repère 0 est définie par le couple:

Nous avons 6 paramètres au total: 3 définissant la translation et 3 définissant

Exemple 1 (Rotation pure autour de l’axe

par la matrice A1 qui vérifie l’équation:

• Si les repères ont la même origine, la matrice homogène se réduit

• Comme pour les matrices de rotation, on peut composer une séquence

e 0 = A01 A12 · · · Ann 1

où est la matrice de transformation qui met en relation

description du même point dans le repère i 1

1.2 Constituants d’un robot

1.3 Classification des robots

1.4 Caractéristiques d’un robot

1.5 Générations de robots

1.6 Programmation des robots

1.7 Utilisation des robots

Chapitre 2 : Fondements Théoriques

2.1 Pose d’un corps rigide

Chapitre 3 : Modélisation d’un Robot

3.1 Modèle géométrique

3.2 Modèle cinématique

• Grâce à la propriété d’orthogonalité de la matrice R(t) , on a que:

• Si on calcule la derivée par rapport au temps, nous trouvons (rappel la règle

Ṙ(t) RT (t) + R(t) ṘT (t) = 03⇥3

Elle est une matrice antisymétrique. En effet: S(t) + ST (t) = 03⇥3

• Si on multiplie à droite chaque côté de l’équation précédente par R(t)

Ṙ(t) = S(t) R(t)

• Soit p un vecteur constant et p(t) = R(t) p

• La derivée par rapport au temps de p(t) est:

ṗ(t) = Ṙ(t) p0 = S(t) R(t) p0

• Si le vecteur !(t) est la vitesse angulaire (ou de rotation) du repère R(t)

par rapport au repère “fixe” au temps t , nous savons de la mécanique que:

ṗ(t) = !(t) ⇥ R(t)p0

• Donc l’opérateur S(t) décrit le produit vectoriel entre le vecteur !(t)

• Les éléments de S(t) symétriques par rapport à la diagonale principale

répresentent les composantes du vecteur

qui justifie l’expression: