ROSep 20, 2016
Time Derivative of Rotation Matrices: A Tutorial
arXiv:1609.06088v120 citations
Originality Synthesis-oriented
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This is an incremental tutorial for researchers or students in fields like robotics or computer graphics needing a clear reference on rotation matrix derivatives.
The paper explains the relationship between the time derivative of a rotation matrix and a skew-symmetric matrix, presenting it as a tutorial on this established mathematical result.
The time derivative of a rotation matrix equals the product of a skew-symmetric matrix and the rotation matrix itself. This article gives a brief tutorial on the well-known result.