Question: Littre problem of rotation matrix in the rigid body frame


I have a little question concerning the definition of the rotation matrix in the rigid body frame.

The rotation matrix is defined like that in the help menu : "The rotation matrix that transforms a vector expressed in the outboard frame to the inboard frame".

Consequently, we have :


But in this short example, when i use the rotation, it seems for me that the new frame is not well defined with respect to the fixed frame. Indeed, for me, the picture correspond to R^[-1]and not R.

How can i do to have to define R[Inboard]^outboard without having need to change the signe to have the good orientation of the created frame from the fixed frame.

The MapleSIM file is : essai.msim

Thank you for your help

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