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What is Understanding Rotation Matrices about?
This document summarizes fundamentals of robot kinematics including: 1) Position and orientation, rotation matrices, change of coordinates, composition of rotations, and minimal representations. 2) Homogeneous transformations which represent both position and orientation using rotation matrices and allow composition of multiple transformations. 3) Common representations of orientation including Euler angles, axis-angle, and unit quaternions and examples of calculating and interpreting these representat
- Author
- Huỳnh Sơn
- Language
- EN