Three different coordinate frames will become important during the
presentation:
- Inertial frame: The
global coordinate frame that is fixed with respect to all motions of
interest.
- Translating frame: A moving frame that has its origin
at the center of mass of and its axes aligned with the inertial
frame.
- Body frame: A frame that again has its
origin at the center of mass of , but its axes are rigidly
attached to . This is the same frame that was used to define
bodies in Chapter 3.
Steven M LaValle
2020-08-14