Implicit Representation of the Orientation: a Rotation Matrix

Implicit Representation of the Orientation: a Rotation Matrix

In the previous lesson, we became familiar with the concept of the configuration for the robots, and we saw that the configuration of a robot could be expressed by the pair (R,p) in which R is the rotation matrix that implicitly represents the orientation of the body frame with respect to the reference frame and p is the position of the origin of the body frame relative to the space frame. In this lesson, we will focus on the orientation, and we will see that we can implicitly represent the orientation using powerful tools named rotation matrices, and we will…
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