1. Rigid Body transformation Lecture 1
Ruzena Bajcsy
EE 125 Fall 2013

2. Outline Introduction to vector and matrix algebra
Coordinates and Frames
Rigid body transformations
Properties of Rotation transformation.
This is covered in the text Chapter 2, section 1. and 2.

3. Notation; v=column vector

4. Matrices

5. Operations on vectors; inner product is a scalar

6. Cross product is a vector

7. More on Matrices

8. Mechanics

9. Energy and Power

10. Coordinates and Frames

11. Rigid Body

12. Rigid Body motion

13. Rigid Displacement

14. Mathematical Representation of rigid displacement

15. Definition

16. Properties of vectors

17. Rigid Body Transformation

18. Examples of non-rigid transformation

19. Rigid motion as a change of coordinate frames

20. Rotation only

21. Examples of rotation matrices

22. Properties of rotation matrices

23. More properties of rotation matrices

24. Second property of rotation matrices