This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all the calculations needed for the analysis and implementation of the controllers.

翻译：本技术报告旨在为机器人学家介绍用于将三维机器人与非恒定三维矢量场对准的几何控制器。这种对准需要对机器人的三维姿态进行控制。我们以极其详尽的推导过程，提供了控制器分析与实现所需的全部计算。