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Rotation Matrices in Robotics - Fundamentals of Robotics

Mecharithm - Robotics and Mechatronics via YouTube

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This lesson introduces rotation matrices for representing orientation in robotics. It covers SO(3), matrix properties, reference-frame transformations, rotations about the coordinate axes, and demonstrations in a robot workspace.

Syllabus

​​ Introduction
​​ Introduction to Rotation Matrices
​​ Special Orthogonal Group SO3
​​ Properties of Rotation Matrices
​​ Rotations commute for the planar rotations
​​ Uses of Rotation Matrices
​​ Use of Rotation matrices as Implicit Representations of the Orientations
​​ Use of Rotation matrices to change the Reference Frame of a Vector or a Frame Rotation Matrix is an Operator
​​ Use of Rotation matrices to rotate a Vector or a Frame Rotation matrix is an operator
​​ Rotation Operators about the x, y, and z axes
​​ Demonstration: the Representation of the Orientation of the Elements in the Robot's Workspace
​​ Demonstration: Successive Rotations of a Point about the Coordinate Axes of the Base Frame

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Mecharithm - Robotics and Mechatronics

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