Parabolic trajectoryIn astrodynamics or celestial mechanics a parabolic trajectory is a Kepler orbit with the eccentricity equal to 1 and is an unbound orbit that is exactly on the border between elliptical and hyperbolic. When moving away from the source it is called an escape orbit, otherwise a capture orbit. It is also sometimes referred to as a C3 = 0 orbit (see Characteristic energy). Under standard assumptions a body traveling along an escape orbit will coast along a parabolic trajectory to infinity, with velocity relative to the central body tending to zero, and therefore will never return.
Radial trajectoryIn astrodynamics and celestial mechanics a radial trajectory is a Kepler orbit with zero angular momentum. Two objects in a radial trajectory move directly towards or away from each other in a straight line. There are three types of radial trajectories (orbits). Radial elliptic trajectory: an orbit corresponding to the part of a degenerate ellipse from the moment the bodies touch each other and move away from each other until they touch each other again. The relative speed of the two objects is less than the escape velocity.
Hyperbolic trajectoryIn astrodynamics or celestial mechanics, a hyperbolic trajectory or hyperbolic orbit is the trajectory of any object around a central body with more than enough speed to escape the central object's gravitational pull. The name derives from the fact that according to Newtonian theory such an orbit has the shape of a hyperbola. In more technical terms this can be expressed by the condition that the orbital eccentricity is greater than one.
Newton's law of universal gravitationNewton's law of universal gravitation is usually stated as that every particle attracts every other particle in the universe with a force that is proportional to the product of their masses and inversely proportional to the square of the distance between their centers. The publication of the law has become known as the "first great unification", as it marked the unification of the previously described phenomena of gravity on Earth with known astronomical behaviors.
Newton's laws of motionNewton's laws of motion are three basic laws of classical mechanics that describe the relationship between the motion of an object and the forces acting on it. These laws can be paraphrased as follows: A body remains at rest, or in motion at a constant speed in a straight line, unless acted upon by a force. When a body is acted upon by a force, the time rate of change of its momentum equals the force. If two bodies exert forces on each other, these forces have the same magnitude but opposite directions.
Elliptic orbitIn astrodynamics or celestial mechanics, an elliptic orbit or elliptical orbit is a Kepler orbit with an eccentricity of less than 1; this includes the special case of a circular orbit, with eccentricity equal to 0. In a stricter sense, it is a Kepler orbit with the eccentricity greater than 0 and less than 1 (thus excluding the circular orbit). In a wider sense, it is a Kepler orbit with negative energy. This includes the radial elliptic orbit, with eccentricity equal to 1.
Gravitational fieldIn physics, a gravitational field is a model used to explain the influences that a massive body extends into the space around itself, producing a force on another massive body. Thus, a gravitational field is used to explain gravitational phenomena, and is measured in newtons per kilogram (N/kg). Equivalently, it is measured in meters per second squared (m/s2). In its original concept, gravity was a force between point masses.
Kinetic energyIn physics, the kinetic energy of an object is the form of energy that it possesses due to its motion. It is defined as the work needed to accelerate a body of a given mass from rest to its stated velocity. Having gained this energy during its acceleration, the body maintains this kinetic energy unless its speed changes. The same amount of work is done by the body when decelerating from its current speed to a state of rest.
GravityIn physics, gravity () is a fundamental interaction which causes mutual attraction between all things that have mass. Gravity is, by far, the weakest of the four fundamental interactions, approximately 1038 times weaker than the strong interaction, 1036 times weaker than the electromagnetic force and 1029 times weaker than the weak interaction. As a result, it has no significant influence at the level of subatomic particles.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Moment of inertiaThe moment of inertia, otherwise known as the mass moment of inertia, angular mass, second moment of mass, or most accurately, rotational inertia, of a rigid body is a quantity that determines the torque needed for a desired angular acceleration about a rotational axis, akin to how mass determines the force needed for a desired acceleration. It depends on the body's mass distribution and the axis chosen, with larger moments requiring more torque to change the body's rate of rotation.
Gravitational waveGravitational waves are waves of the intensity of gravity that are generated by the accelerated masses of an orbital binary system, and propagate as waves outward from their source at the speed of light. They were first proposed by Oliver Heaviside in 1893 and then later by Henri Poincaré in 1905 as waves similar to electromagnetic waves but the gravitational equivalent. Gravitational waves were later predicted in 1916 by Albert Einstein on the basis of his general theory of relativity as ripples in spacetime.
Gravitational energyGravitational energy or gravitational potential energy is the potential energy a massive object has in relation to another massive object due to gravity. It is the potential energy associated with the gravitational field, which is released (converted into kinetic energy) when the objects fall towards each other. Gravitational potential energy increases when two objects are brought further apart. For two pairwise interacting point particles, the gravitational potential energy is given by where and are the masses of the two particles, is the distance between them, and is the gravitational constant.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Rotational energyRotational energy or angular kinetic energy is kinetic energy due to the rotation of an object and is part of its total kinetic energy. Looking at rotational energy separately around an object's axis of rotation, the following dependence on the object's moment of inertia is observed: where The mechanical work required for or applied during rotation is the torque times the rotation angle. The instantaneous power of an angularly accelerating body is the torque times the angular velocity.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Conservation of energyIn physics and chemistry, the law of conservation of energy states that the total energy of an isolated system remains constant; it is said to be conserved over time. Energy can neither be created nor destroyed; rather, it can only be transformed or transferred from one form to another. For instance, chemical energy is converted to kinetic energy when a stick of dynamite explodes. If one adds up all forms of energy that were released in the explosion, such as the kinetic energy and potential energy of the pieces, as well as heat and sound, one will get the exact decrease of chemical energy in the combustion of the dynamite.
Gravitational constantThe gravitational constant (also known as the universal gravitational constant, the Newtonian constant of gravitation, or the Cavendish gravitational constant), denoted by the capital letter G, is an empirical physical constant involved in the calculation of gravitational effects in Sir Isaac Newton's law of universal gravitation and in Albert Einstein's theory of general relativity. In Newton's law, it is the proportionality constant connecting the gravitational force between two bodies with the product of their masses and the inverse square of their distance.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
