Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 35

The rotation matrices have several mathematical properties that turn out to be quite useful especially in the symbolic matrix manipulations required in the analytical treatments within the scope of rotational kinematics. These properties are shown and explained below in Sections 2.7.1 and 2.7.2. In both sections, the rotation matrices are expressed in exponential form and the unit vectors of the rotation axes are represented by plain column matrices, such as , without explicit frame indication.