Spatial Vectors and Rigid-Body Dynamics

You have reached an old version of this web page, perhaps via an out-of-date link or bookmark.  The new page is here.

Spatial vectors are 6D vectors that simplify the task of describing, analysing, or calculating rigid-body dynamics.  This page contains materials to help you learn spatial vector algebra, and software to help you perform dynamics calculations.

A Short Course on Spatial Vector Algebra

This is an introductory course that takes approximately one day.  The materials below are (believed to be) suitable for self study.

A Tutorial for Beginners

Some Books and Papers

More Stuff on Spatial Vectors

Matlab Software

Other Software

Last modified:  Dec 2011
Author:  Roy Featherstone