I need to rotate a starting frame (classic xyz cartesian frame) multiple times, using Euler angles, and at the end I need to calculate the angle between the initial and the final Z axys. Specifically, I need to perform these clockwise rotations (of a certain degree value), each time the next rotation has to be performed on the *newly generated* coordinate system: # rotation of angle theta1 about the Y axis # rotation of angle theta2 about the Z axis # rotation of angle theta3 about the Y axis # rotation of angle theta4 about the Z axis # rotation of angle theta5 about the Y axis # calculate the angle between the initial and the final Z axis I'm pretty new to this and despite my effort I didn't understand how to correctly proceed with this task. If this issue has already been answered elsewhere, please point me there. Many thanks!

Rotating frames with euler angles

7 次查看（过去 30 天）

Annalisa Dalzini 2017-1-27

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/322231-rotating-frames-with-euler-angles

I need to rotate a starting frame (classic xyz cartesian frame) multiple times, using Euler angles, and at the end I need to calculate the angle between the initial and the final Z axys. Specifically, I need to perform these clockwise rotations (of a certain degree value), each time the next rotation has to be performed on the newly generated coordinate system:

rotation of angle theta1 about the Y axis
rotation of angle theta2 about the Z axis
rotation of angle theta3 about the Y axis
rotation of angle theta4 about the Z axis
rotation of angle theta5 about the Y axis
calculate the angle between the initial and the final Z axis

I'm pretty new to this and despite my effort I didn't understand how to correctly proceed with this task. If this issue has already been answered elsewhere, please point me there. Many thanks!