Modern Robotics, Chapter 3.2.2: Angular Velocities

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials.

This video introduces 3-vector angular velocities and the space of 3x3 skew-symmetric matrices called so(3), the Lie algebra of the Lie group SO(3). Any 3-vector angular velocity has a corresponding so(3) representation.

This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.

Playlist for Chapter 3:    • Modern Robotics, Chapter 3:  Rigid-Bo...  

Playlist for all book videos:    • Modern Robotics, All Videos  

YouTube channel with all playlists:    / kevinl2145  

Wiki for the book, including software and other supplements: http://modernrobotics.org

Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializati...