# Tag Info

### Rotation matrix sign convention confusion.

I think that the main issue is that you're trying to read your rotation matrices from left to right. The sign changes seem random, but actually cycle in an ordinary way. Below follows a more elaborate ...
• 562
Accepted

### Using pre multiply or post multipy for rotational matrix to get a new homogenous transformation matrix?

When working with rigid-body transformations, it is crucial to understand which coordinate frame the transformation is defined in. Further, there are different notations for this, so it is important ...
• 350
Accepted

### How to avoid gimbal with Quaternions

Quaternions are a more efficient way of storing the orientation matrix of a frame. I use the vector-scalar convention for quaternions (3+1 = 4 quantities) and have defined the following utility ...
• 383

### Why Euler Angle is set to be in ZYZ order?

Euler angles are not always consistently defined as ZYZ. But this convention is common in robotics because many six-axis robotic manipulators have their fourth axis as a rotation about the forearm, ...
• 4,396
Accepted

### How to compute the orientation error between two 3D coordinate frames?

The rotation error between two frames can be viewed in two ways: The orientation of one frame as seen from the other, calculated by multiplying the inverse of the observing frame by the observed ...
• 619

### Explanation for exponential coordinate of rotation

The author expects a background that includes a course in physics or mechanics where this equation is taught. When that is the case, this equation gives you instantaneous velocity of a particle (point)...
• 4,445