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Quaternions for Rotation, Axis-Angle, Euler Parameters - MATLAB Examples - Rodrigues Rotation Formula

Ross Dynamics Lab via YouTube

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Overview

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This course presents axis-angle rotation, Rodrigues’ formula, rotation matrices, and Euler parameters for rigid-body kinematics. MATLAB demonstrations show how to convert between these representations and formulate their kinematic differential equations.

Syllabus

Review of previous attitude descriptions.
Numerical demonstration of axis angle description of rotation of Space Shuttle .
From rotation matrix to axis-angle.
MATLAB tutorial for calculating axis-angle based on example from Schaub & Junkins book.
Going from axis-angle to rotation matrix (Direction Cosine Matrix).
MATLAB tutorial for axis-angle to rotation matrix .
Kinematic differential equations for axis-angle set.
Euler parameters, elements of the quaternion.
MATLAB tutorial for Euler parameters to rotation matrix.
Additional problems for practice.

Taught by

Ross Dynamics Lab

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