机器人在3d空间的位姿表示

https://www.cnblogs.com/gaoxiang12/p/5113334.html

https://blog.csdn.net/llfjcmx/article/details/88643066

https://zhuanlan.zhihu.com/p/45404840

旋转矩阵

https://www.cnblogs.com/meteoric_cry/p/7987548.html

https://blog.csdn.net/zxzzt119/article/details/72779108?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.control&dist_request_id=e3c4c701-e6e9-44a5-9664-8c963d915a4e&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.control

https://blog.csdn.net/jhope/article/details/83067956

https://zhuanlan.zhihu.com/p/113975973

欧拉角

四元数