Attitude Representations

  • Ernesto Olguín DíazEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 191)


In previous Chapter, there has been presented a set of solutions for complex rotation using 3 concatenated basic rotation. All of this solutions, using three rotation angles about some defined principal axis of either: the base frame or the current frame, are the so-called Euler angles. In addition to the Euler angles representations (with multiple solution existence for 3D rotations) there are other methods than allow to express the same complicated rotation matrix. Since the minimal number of independent rotational variables is 3, it arise that non-minimum parametrization need a linear dependence between its corresponding parameters.

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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Robotics and Advance Manufacturing GroupCentro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN)CoahuilaMexico

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