On Generalized Euler Angles

  • Aleix RullEmail author
  • Federico Thomas
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


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.


Euler angles Generalized Euler angles Dual Euler angles 3C Manipulator 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Institut de Robòtica i Informàtica Industrial (CSIC-UPC)BarcelonaSpain

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