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November 15, 2012

The Revolute Joint

A revolute joint doesn’t affect the translational motion at all.

A revolute joint can represent a hinge or a drive, depending on how it is being connected.

If the joint represents a hinge, the external torque at the joint is zero.

The joint computes the relative angle between frame_a and frame_b, and from it, computes the orientation matrix that is needed to determine the coordinate transformation from frame_a to frame_b.

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