BSNS102 Study Guide - Final Guide: Coordinate Space, Linear Algebra, Inertial Frame Of Reference

• School: University of Otago
• Department: Business Studies
• Course: BSNS102
• Professor: Drew Stelljes

Document Summary

Sometimes the right terminology is the key to unlocking a better understanding of a subject. In an attempt to simplify the transformations between world and object space, we will use a new coordi- nate space called the inertial coordinate space, which is in a certain sense halfway between object space and world space. The origin of inertial space is the same as the origin of the object space, and the axes of inertial space are parallel with the axes of world space. Figure 3. 2 illustrates this principle in 2d. (notice that we have chosen to consider the point between the robot"s feet as the origin of the robot"s object space, rather than the robot"s center of mass. ) To transform a point between object space and inertial space requires only rotation, and to transform a point between inertial space and world space requires only a change of location, or a translation.