Abstract
Angular velocity of a rotating body B in a global frame G is the instantaneous rotation of the body with respect to G. Angular velocity is a vectorial quantity. Using the analytic description of angular velocity, we introduce the velocity and time derivative of homogenous transformation matrices.
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Jazar, R.N. (2010). Angular Velocity. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-1750-8_7
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DOI: https://doi.org/10.1007/978-1-4419-1750-8_7
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