DocumentCode
1448749
Title
On Coordinate-Free Rotation Decomposition: Euler Angles About Arbitrary Axes
Author
Piovan, Giulia ; Bullo, Francesco
Author_Institution
Center for Control, Dynamical Syst. & Comput., Univ. of California at Santa Barbara, Santa Barbara, CA, USA
Volume
28
Issue
3
fYear
2012
fDate
6/1/2012 12:00:00 AM
Firstpage
728
Lastpage
733
Abstract
This paper focuses on Euler angles and on the decomposition of rotations. We consider arbitrary rotation axes that are not necessarily mutually orthogonal; we characterize the set of rotation matrices that admit Euler angles about arbitrary rotation axes; and we provide a single set of Euler angle formulas that applies to any selection of rotation axes. The results are presented and derived in a coordinate-free setting, where no reference frames are required, and no components of any array or matrix are manipulated.
Keywords
matrix decomposition; robot kinematics; Euler angle formulas; arbitrary rotation axes; coordinate-free rotation decomposition; coordinate-free setting; rotation matrices; Arrays; Equations; Kinematics; Matrix decomposition; Robot kinematics; Vectors; Euler angles; kinematics; rotation matrices;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2012.2184951
Filename
6152160
Link To Document