Euler 121 sequence

For more info on Euler Sequences, notation and convention see the generic entry on Euler angle sequences.

$ R_{121}(\phi, \theta, \psi) = R_1(\psi) R_2(\theta) R_1(\phi) $

The rotation matrices are

$\displaystyle R_1(\psi) = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\psi} & s_{\psi} \\ 0 & -s_{\psi} & c_{\psi} \end{array} \right]$ (1)

$\displaystyle R_2(\theta) = \left[ \begin{array}{ccc} c_{\theta} & 0 & -s_{\theta} \\ 0 & 1 & 0 \\ s_{\theta} & 0 & c_{\theta} \end{array} \right]$ (2)

$\displaystyle R_1(\phi) = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\phi} & s_{\phi} \\ 0 & -s_{\phi} & c_{\phi} \end{array} \right]$ (3)

Carrying out the matrix multiplication from right to left

$ R_2(\theta)R_1(\phi) =
\left[ \begin{array}{ccc}
c_{\theta} & 0 & -s_{\theta} ...
...\
s_{\theta} & -c_{\theta} s_{\phi} & c_{\theta} c_{\phi} \end{array} \right] $

Finaly leaving us with the Euler 121 sequence

$ R_1(\psi)R_2(\theta)R_1(\phi) = \left[ \begin{array}{ccc}
c_{\theta} & -s_{\th...
...{\phi} & -s_{\psi} s_{\phi} + c_{\psi} c_{\theta} c_{\phi} \end{array} \right] $



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