R ˙ = Ω × R \dot R = \Omega \times R R˙=Ω×R

S = R ˙ R T S = \dot R R^T S=R˙RT

S是反对称阵 S = [ 0 − Ω z Ω y Ω z 0 − Ω x − Ω y Ω x 0 ] S=\left[\begin{array}{ccc}0 & -\Omega_{z} & \Omega_{y} \\ \Omega_{z} & 0 & -\Omega_{x} \\ -\Omega_{y} & \Omega_{x} & 0\end{array}\right] S=⎣⎡​0Ωz​−Ωy​​−Ωz​0Ωx​​Ωy​−Ωx​0​⎦⎤​

参考：机器人学入门