"R is a 4???4 matrix, and RBA represents the posture of an object B in a coordinate system A. In other words, R is a coordinate transformation matrix from the coordinate system A into a coordinate system B defined by the object B, and defines a transformation formula PB=RBAPA to transform coordinates PA=(XA,YA,ZA,1)T in the coordinate system A into coordinates PB=(XB, YBZB, 1)T in the coordinate sy" . . . .