WSEAS Transactions on Applied and Theoretical Mechanics
Print ISSN: 1991-8747, E-ISSN: 2224-3429
Volume 11, 2016
Using the Transformation Matrices not Only to Derive the Motion Equations
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Abstract: This article introduces different ways of transformation matrices use. The first utilization is to determine the motion equations of the complex mechanical structure. Analysed model is designed in 3D CAD system SolidWorks. It consists of seven main physical objects. The corresponding inertia/pseudo-inertia matrix is derived for each of them with the aid of transformation matrices. These matrices are further used to derive the motion equations. The ball position scanning by camera system provides another possibility of the transformation matrix use; the camera local coordinate system is different against the plate local coordinate system and it is necessary to recalculate the real ball position. The final mentioned use of transformation matrices is in the determination of ball falling direction - it is valid only in case of its zero initial velocity.
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Keywords: Motion Control, Transformation Matrix, Motion Equations, Gradient, Simulation, Matlab/Simulink
Pages: 169-176
WSEAS Transactions on Applied and Theoretical Mechanics, ISSN / E-ISSN: 1991-8747 / 2224-3429, Volume 11, 2016, Art. #22