Rigid body rotation decomposition based on fixed angle rotations

Gong Haoran; Wu Di; Gong Shengping; Li Junfeng

doi:10.6052/1000-0879-20-510

Rigid body rotation decomposition based on fixed angle rotations

Gong Haoran
, Wu Di
, Gong Shengping^*
, Li Junfeng

^*Corresponding author for this work

School of Astronautics

Tsinghua University

Research output: Contribution to journal › Article › peer-review

Abstract

Any finite rotation of a rigid body can be decomposed into three consecutive fixed-axis rotations. The problem dealt with in this paper is, can any given finite rotation of a rigid body be decomposed into limited times of consecutive fixed step size rotations. Attitude quaternion is employed as the main tool, and a constructive proof, along with the concrete decomposition process is given.

Original language	English
Pages (from-to)	343-346
Number of pages	4
Journal	Mechanics in Engineering
Volume	43
Issue number	3
DOIs	https://doi.org/10.6052/1000-0879-20-510
State	Published - 8 Jun 2021

Keywords

Attitude kinematics
Quaternion
Rotation decomposition

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10.6052/1000-0879-20-510

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title = "Rigid body rotation decomposition based on fixed angle rotations",

abstract = "Any finite rotation of a rigid body can be decomposed into three consecutive fixed-axis rotations. The problem dealt with in this paper is, can any given finite rotation of a rigid body be decomposed into limited times of consecutive fixed step size rotations. Attitude quaternion is employed as the main tool, and a constructive proof, along with the concrete decomposition process is given.",

keywords = "Attitude kinematics, Quaternion, Rotation decomposition",

author = "Gong Haoran and Wu Di and Gong Shengping and Li Junfeng",

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doi = "10.6052/1000-0879-20-510",

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AU - Haoran, Gong

AU - Di, Wu

AU - Shengping, Gong

AU - Junfeng, Li

PY - 2021/6/8

Y1 - 2021/6/8

N2 - Any finite rotation of a rigid body can be decomposed into three consecutive fixed-axis rotations. The problem dealt with in this paper is, can any given finite rotation of a rigid body be decomposed into limited times of consecutive fixed step size rotations. Attitude quaternion is employed as the main tool, and a constructive proof, along with the concrete decomposition process is given.

AB - Any finite rotation of a rigid body can be decomposed into three consecutive fixed-axis rotations. The problem dealt with in this paper is, can any given finite rotation of a rigid body be decomposed into limited times of consecutive fixed step size rotations. Attitude quaternion is employed as the main tool, and a constructive proof, along with the concrete decomposition process is given.

KW - Attitude kinematics

KW - Quaternion

KW - Rotation decomposition

UR - https://www.scopus.com/pages/publications/85117039447

U2 - 10.6052/1000-0879-20-510

DO - 10.6052/1000-0879-20-510

M3 - 文章

AN - SCOPUS:85117039447

SN - 1000-0879

VL - 43

SP - 343

EP - 346

JO - Mechanics in Engineering

JF - Mechanics in Engineering

IS - 3

ER -

Rigid body rotation decomposition based on fixed angle rotations

Abstract

Keywords

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