110 3. Orientation Kinematies
3.3 % Determination of Euler Parameters
Assume a transformation matrix is given.
Re=| ra rm ras (3.148)
It is then possible to find the Euler parameters ¢o,¢1,¢2,¢3 and indicate
the axis and angle of rotation by utilizing one of the following four sets of
equations:
1
6 = t5vittm Fett
a5vitn te
Arye — ras Ans ray Ang = riz
7% OG Te
1
e: = t5vltm oes
45vTT
Ira +r
Ta
La + ras
a= Ta
(3.150)
1
@ = t5vlon tno
45 +
1 ga + ray Ins-rn 0) dra tr a5
ro % ee RE (ous)
1
es = 45vToon tn tis
a5vT F
Ara rie
Te
Ursa + ras
(3.152)
Although Equations (3.149)-(3.152) present four different sets of solutions,
their resulting Euler parameters e0,¢1,€2,¢9 are identical, Therefore, i=
merical inaccuracies can be minimized by using the set with maximum
divisor.
‘The plus and minus sign indicates that rotation @ about @ is equivalent
to rotation —¢ about —i.
Proof. Comparing (3.82) and (3.148) shows that for the first set of Equa-
tions (8.149), eo can be found by summing the diagonal elements ri, 722,
and rss to got tr (Ry) = de? —1. To find es, e2, and es we need to simplify
132 —Taa, T13 — Tai, and ra — m2, respectively.
‘The other sets of solutions (3.150)-(3.152) can also be found by compar-
ison.