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Axis-angle representation
of rotation matrices:
Geometric derivation
and Rodrigues identity
2006 Gerhard Besold
nxr
n
esz
esy
s
ex
N skew(n) :
Nij := ijk nk
n x r = Nr
Axis-angle
representation
of the rotation matrix:
Geometric derivation
2006 Gerhard Besold
Solution:
Rodrigues identity
2006 Gerhard Besold
9
2006 Gerhard Besold
Calculation:
9
2006 Gerhard Besold
Determination of angle :
2006 Gerhard Besold
= (cos = 1) : (contd)
Two Bij = 0
( single Bii = 0)