There are several well-known methods to compute the rotation matrix. However, such methods require a little experience dealing with the handling of two related reference frames through the introduction of a wide class of orientation angles, such as Euler angles,...
CITATION STYLE
Gallardo-Alvarado, J. (2016). Appendix 1: A Simple Method to Compute the Rotation Matrix. In Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory (pp. 355–356). Springer International Publishing. https://doi.org/10.1007/978-3-319-31126-5_16
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