Orientation Kinematics



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.


Rigid Body Transformation Matrix Coordinate Frame Rotation Matrix Euler Angle 


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© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.School of Aerospace, Mechanical, and Manufacturing EngineeringRMIT UniversityMelbourneAustralia

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