Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 51

Consider two reference frames and . The kth basis vector of can be represented by the following column matrix in for k ∈ {1, 2, 3}.

(3.27)

Using the transformation matrix between and , can be expressed as follows:

(3.28)

Note that picks up the kth column of the matrix, by which it is postmultiplied. Thus, in Eq. (3.28), happens to be the kth column of . Therefore, can be expressed column by column as shown below.

(3.29)