Journal of Engineering and Applied Sciences
ISSN: Online 1818-7803ISSN: Print 1816-949x
Abstract
Our research, with its rather educational and peadagogical character, consists at first; in defining the 3 main methods used for the description of the motion of multibody systems to be known: the angles, the orthogonal and homogeneous matrices (SO3) as well as the quaternions, then to use them (numerical application) for the kinematic study of a manipulator (robot) of 6 degrees of freedom and finally to analyze and to compare the found results. This comparative study will allow us to demystify the Lie groups and Lie algebra as for their use in Mechanics and Robotics and especially to demystify and to popularize the use of quaternions in the same optics.
How to cite this article:
Mahmoud Gouasmi , Mohammed Ouali and Mustapha Rahmani . Methodological and Comparative Study of Techniques for the Description of the Movement of Multibody Systems (mbs).
DOI: https://doi.org/10.36478/jeasci.2008.905.910
URL: https://www.makhillpublications.co/view-article/1816-949x/jeasci.2008.905.910