Rigid body

A rigid body is an idealized solid whose points remain at fixed distances from one another. It can translate and rotate without deforming.

Center of mass: The mass-weighted average position of a body's matter, which moves as though the body's total mass were concentrated there. Rigid-body translation is tracked through this point, independently of rotation.
Euclidean distance: The straight-line distance between two points in Euclidean space. Fixed pairwise Euclidean distances define the ideal body's rigidity.
Newton–Euler equations: The equations relating a body's external forces and torques to its translational and rotational motion. They govern the motion of a rigid body under applied loads.
Deformable body: A body whose shape or dimensions can change under applied forces or other influences. Unlike a rigid body, it permits internal distances to vary.
Angular velocity: A vector describing the rate and axis of an object's rotation. It specifies the instantaneous rotational motion of a rigid body.
Constraint (mechanics): A condition that restricts the possible configurations or motions of a mechanical system. Rigidity can be modeled as a network of fixed-distance constraints.
Robot kinematics: The study of how robot joint motions determine the positions and orientations of links and tools. Robot links are commonly modeled as rigid bodies connected by joints.
Continuum mechanics: The study of materials modeled as continuous distributions of matter rather than discrete particles. Its general framework describes both deformable solids and fluids beyond rigid-body assumptions.
Moment of inertia: A measure of how a body's mass is distributed relative to an axis of rotation. It determines how strongly mass distribution resists changes in the body's rotation.
Configuration space: The set of all possible configurations of a system, represented by coordinates. A rigid body's configurations form a space of positions and orientations.

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