On the calculation of euler angles from a rotation matrix

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11 Scopus citations


The problem of deriving Euler angles from a proper rotation matrix illustrates how a reformulation of the matrix elements renders obvious the nature of the non-uniqueness of the solution, and exposes the degenerate case that requires special treatment.

Original languageEnglish (US)
Pages (from-to)335-337
Number of pages3
JournalInternational Journal of Mathematical Education in Science and Technology
Issue number3
StatePublished - 1986

All Science Journal Classification (ASJC) codes

  • Mathematics (miscellaneous)
  • Education
  • Applied Mathematics


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