• Kinematics
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  • Robotics
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  • Linear Algebra
  • Kinematics
  • ##Rotation Matrix

    A rotation matrix attains tree equivalent geometrical meanings:

    1. It describes the mutual orientation between coordinate frames;its column vectors are the direction cosines of the axes of the rotated frame with respect to the original frame.

    2. It represents the coordinate transformation between the coordinates of a point expressed in two different frames(with common origin).

    3. It is the operator that allows rotating a vector in the same coordinate frame.