ABSTRACT
Two types of coordinate systems are required for kinematic analysis:
A fixed coordinate system https://www.w3.org/1998/Math/MathML"> x 0 y 0 z 0 https://s3-euw1-ap-pe-df-pch-content-public-p.s3.eu-west-1.amazonaws.com/9780429398308/b8370c00-7e6f-4608-b66a-c4d6f5622886/content/C003_equ_0001.tif" xmlns:xlink="https://www.w3.org/1999/xlink"/> , attached to the ground 0, also called inertial or world frame.
Mobile coordinate systems https://www.w3.org/1998/Math/MathML"> x m y m z m https://s3-euw1-ap-pe-df-pch-content-public-p.s3.eu-west-1.amazonaws.com/9780429398308/b8370c00-7e6f-4608-b66a-c4d6f5622886/content/C003_equ_0002.tif" xmlns:xlink="https://www.w3.org/1999/xlink"/> , rigidly attached to each mobile link m. The mobile frame origins are located at the joints.
