Expressions of Euler Angles as Functions of the Directional Cosines of Three-Orthogonal Axes in Rigid Body Kinematics - II

Abstract

Abstract In the rigid body kinematics, the position of the mobile frame in relation to the fixed frame is given by the base-change matrix. The elements of this orthogonal matrix are given by the Euler’s angles. This paper establishes the reverse link relations between the Euler’s angles and the elements of the base-change matrix (directional cosines).