How to derive the rotation matrix of frame {A} relative to frame {B} around vector K which called the axis of a finite rotation?

21 October 2017 1 1K Report

let we have frame A and frame B, then we rotate the frame system by theta, around vector K which is the axis of a finite rotation, how to derive the rotation matrix of frame A with respect to fram B around vector K? here is the derived matrix

the question from "introduction to robotics mechanics and control/John J. Craig

Frédéric Etienne Kracht

I recommend the book by Prof. Schiehlen:

SCHIEHLEN, Werner; EBERHARD, Peter. Applied dynamics. Berlin: Springer, 2014.

The kinematic differential equations with the rotational Jacobian Matrix will solve your problem.

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