Active versus passive transformations in robotics

This paper suggests that the active approach is preferrabe to the passive approach when it comes to teaching and learning robotics. Unlike the passive approach, the active approach puts more emphasis on the bodies and their motion and, consequently, less emphasis on coordinate frames and changes of coordinates. While the active view is straightforward to teach and learn, it is mathematically equivalent to the standard passive approach. Ultimately, the choice between the two approaches is a matter of personal preference and depends on familiarity and personal taste.