On Generalized Euler Angles
This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on the calculation of standard Euler angles. Then, this generalization is taken one step further by introducing translations, that is, by defining generalized Euler angles about screw axes using a variation of the principle of transference that avoids the use of dual numbers. As an example, the obtained formulation is applied to solve the inverse kinematics of a 3C manipulator.
KeywordsEuler angles Generalized Euler angles Dual Euler angles 3C Manipulator
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