SOME REMARKS ON ROTATION SEQUENCES AND ASSOCIATED ANGULAR VELOCITIES
MECHANISM AND MACHINE THEORY, vol.29, no.7, pp.933-940, 1994 (SCI-Expanded, Scopus)
- Publication Type: Article / Article
- Volume: 29 Issue: 7
- Publication Date: 1994
- Doi Number: 10.1016/0094-114x(94)90062-0
- Journal Name: MECHANISM AND MACHINE THEORY
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Page Numbers: pp.933-940
- Middle East Technical University Affiliated: Yes
Abstract
General m-step rotation sequences are considered in which the k th rotation (k = 1, 2, ..., m) takes place about an axis whose unit vector is specified with its components in an arbitrary reference frame. A theorem is introduced in order to limit the arbitrariness of these frames so that the overall transformation matrix between the initial and final frames is minimal, i.e. expressible as an m-factor product of only m exponential rotation matrices. Afterwards, expressions are given for the angular velocities associated with such general rotation sequences.