This course covers the axis-angle representation of rotations based on Euler's rotation theorem, quaternions (specifically Euler parameters), and the Rodrigues rotation formula. The learning outcomes include understanding Euler parameters, the rotation matrix, and kinematic differential equations for evolving Euler parameters. The course teaches skills such as calculating axis-angle representations, converting between axis-angle and rotation matrices, and solving Euler rotational differential equations. The teaching method includes MATLAB tutorials and numerical demonstrations. The intended audience for this course is individuals interested in aerospace engineering, dynamics, spacecraft dynamics, and rotational kinematics.
Quaternions for Rotation, Axis-Angle, Euler Parameters - MATLAB Examples - Rodrigues Rotation Formula
Overview
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
