MATLAB - Transpose of a Matrix - The transpose operation switches the rows and columns in a matrix. MATLAB - Transpose of a Matrix. Advertisements. Previous Page.The rigidBody object represents a rigid body. A rigid body is the building block for any tree-structured robot manipulator. Each rigidBody has a rigidBodyJoint object attached to it that defines how the rigid body can move. The rotation matrix defines the rigid body rotation of the principal directions of strain (in the reference configuration; in the current configuration). represents only the rigid body rotation of the material at the point under consideration in some average sense: in a general motion, each infinitesimal gauge length emanating from a material particle has a different amount of rotation.

Rigid Body Displacements 2.1 The Isometry Group A rigid body displacement in Euclidean space, E 3, can be described geometri-cally as an Isometry. The following quote is from [1]: \A bijective linear mapping of E 3 onto itself which leaves the dis-tance between every pair of distinct points, and the angle between