Abstract
Consider a rigid body with an attached local coordinate frame B(oxyz) moving freely in a fixed global coordinate frame G(OXYZ). The rigid body can rotate in the global frame, while point o of the body frame B can translate relative to the origin O of G as shown in Figure 4.1.
Rotation and translation of a local frame with respect to a global frame.
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Jazar, R.N. (2007). Motion Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-68964-7_4
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DOI: https://doi.org/10.1007/978-0-387-68964-7_4
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