Abstract
We can decompose any rotation φ of a rigid body with a fixed point O, about a globally fixed axis û into three rotations about three given non coplanar axes. Furthermore, the finial orientation of a rigid body after a finite number of rotations is equivalent to a unique rotation about a unique axis. Determination of the angle and axis is called the orientation kinematics of rigid bodies.
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Jazar, R.N. (2010). Orientation Kinematics. In: Theory of Applied Robotics. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-1750-8_3
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DOI: https://doi.org/10.1007/978-1-4419-1750-8_3
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