Computing Euler angles from a rotation matrix（计算欧拉角旋转矩阵）.pdf

Computing Euler angles from a rotation matrix Gregory G. Slabaugh Abstract This document discusses a simple technique to find all possible Euler angles from a rotation matrix. Determination of Euler angles is sometimes a necessary step in computer graphics, vision, robotics, and kinematics. However, the solution may or may not be obvious. Rotation matrices We start off with the standard definition of the rotations about the three prin- ciple axes. A rotation of radians about the x-axis is defined as  1 0 0    Rx ( ) = 0 cos − sin 0 sin cos Similarly, a rotation of θ radians about the y-axis is defined as  cos θ 0 sin θ    Ry (θ) = 0 1 0 − sin θ 0 cos θ Finally, a rotation of φ radians about the z-axis is defined as  cos φ − sin φ 0    Rz (φ) = sin φ cos φ 0 0 0 1 The angles , θ, and φ are the Euler angles. Generalized rotation matrices A general rotation matrix can will have the form,  R11 R12 R13    R = R21 R22 R23 R31 R32 R33 1 This matrix can be thought of a sequence of three rotations, one about each principle axis. Since matrix multiplication does not commute, the order of the axes which one rotates about will affect the result. For