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Matrix Form
This is the matrix form of the equations i said earler. it's easy to read if you write them out by hand.
Vx = | V | cos ( theda )
Vy = | V | sin ( theda )
( w1 , w2 , w3 )^T = A ( Vx , Vy , Torq )^T
A = ( 1 / R ) [
[ -(3^.5)/2 .5 L1 ]
[ 0 -1 L2 ]
[ (3^.5)/2 .5 L3 ] ]
there is your matrix form of the of the three equations i set out befor . . . this is how i and a math prof aproced the problem of the equations of motion for the platform and this is the end of the derivation. my answer was the same as killough's
Yes adem i am still going to spell theda wrong. that is how it is spelled out in the code and abstract. you know that.
-- john
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