Q.1:正交矩阵R(旋转矩阵)的导数 R ˙ \dot R R˙是什么?
R ˙ = Ω × R \dot R = \Omega \times R R˙=Ω×R
S = R ˙ R T S = \dot R R^T S=R˙RT
S是反对称阵 S = [ 0 − Ω z Ω y Ω z 0 − Ω x − Ω y Ω x 0 ] S=\left[\begin{array}{ccc}0 & -\Omega_{z} & \Omega_{y} \\ \Omega_{z} & 0 & -\Omega_{x} \\ -\Omega_{y} & \Omega_{x} & 0\end{array}\right] S=⎣⎡0Ωz−Ωy−Ωz0ΩxΩy−Ωx0⎦⎤
参考:机器人学入门