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Euler angles are three angles that describe the orientation of a rigid body or coordinate system relative to a fixed reference frame. They represent the body's orientation as the result of three successive rotations about the x, y, and z axes. There are twelve possible sequences of rotation axes to define Euler angles, divided into proper Euler angles and Tait-Bryan angles. Euler angles are commonly denoted as α, β, γ or φ, θ, ψ and the specific rotation axes used must be defined when discussing Euler angles.

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57 views

Euler Angles: Jump To Navigationjump To Search

Euler angles are three angles that describe the orientation of a rigid body or coordinate system relative to a fixed reference frame. They represent the body's orientation as the result of three successive rotations about the x, y, and z axes. There are twelve possible sequences of rotation axes to define Euler angles, divided into proper Euler angles and Tait-Bryan angles. Euler angles are commonly denoted as α, β, γ or φ, θ, ψ and the specific rotation axes used must be defined when discussing Euler angles.

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Euler angles

From Wikipedia, the free encyclopedia


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This article is about the Euler angles used in mathematics. For the use of the term
in physics and aerospace engineering, see rigid body dynamics. For chained rotations, see chained
rotations.
The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of
a rigid body with respect to a fixed coordinate system.[1] They can also represent the orientation of a
mobile frame of reference in physics or the orientation of a general basis in 3-dimensional linear
algebra.
Euler angles can be defined by elemental geometry or by composition of rotations. The geometrical
definition demonstrates that three composed elemental rotations (rotations about the axes of
a coordinate system) are always sufficient to reach any target frame.
The three elemental rotations may be extrinsic (rotations about the axes xyz of the original
coordinate system, which is assumed to remain motionless), or intrinsic (rotations about the axes of
the rotating coordinate system XYZ, solidary with the moving body, which changes its orientation
after each elemental rotation).
Euler angles are typically denoted as α, β, γ, or φ, θ, ψ. Different authors may use different sets of
rotation axes to define Euler angles, or different names for the same angles. Therefore, any
discussion employing Euler angles should always be preceded by their definition.
Without considering the possibility of using two different conventions for the definition of the rotation
axes (intrinsic or extrinsic), there exist twelve possible sequences of rotation axes, divided in two
groups:

 Proper Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y)


 Tait–Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z).
Tait–Bryan angles are also called Cardan angles; nautical angles; heading, elevation, and bank;
or yaw, pitch, and roll. Sometimes, both kinds of sequences are called "Euler angles". In that case,
the sequences of the first group are called proper or classic Euler angles.

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