SOME REMARKS ON ROTATION SEQUENCES AND ASSOCIATED ANGULAR VELOCITIES

Date

1994-10-01

Author

Özgören, Mustafa Kemal

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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.

URI

https://hdl.handle.net/11511/29841

Journal

MECHANISM AND MACHINE THEORY

DOI

https://doi.org/10.1016/0094-114x(94)90062-0

Collections

Graduate School of Natural and Applied Sciences, Article

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Citation Formats

M. K. Özgören, “SOME REMARKS ON ROTATION SEQUENCES AND ASSOCIATED ANGULAR VELOCITIES,” MECHANISM AND MACHINE THEORY, pp. 933–940, 1994, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/29841.