Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 75

1 1 We will use , to denote both coordinate axes and unit vectors along the coordinate axes depending on the context.

2 2 It should be noted that other conventions exist for naming the roll, pitch, and yaw angles.

3 3 The definition of rigid motion is sometimes broadened to include reflections, which correspond to detR = −1. We will always assume in this text that detR = +1 so that R ∈ SO(3).