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做机器人逆运动学（IK）的时候，你迟早会遇到矩阵指数和对数这些东西。为什么呢？因为计算三维旋转的误差，不能简单地用欧氏距离那一套，那只对位置有效。旋转得用另一套方法——你需要算两个旋转矩阵之间的差异，这就涉及到矩阵对数了。