Book to understand Euler angles (and Tait–Bryan )

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SUMMARY

The discussion focuses on understanding Euler angles, specifically the 3-2-1 rotation sequence, and seeks book recommendations for deeper insights. Participants highlight the importance of these angles in parametrizing arbitrary rotations between frames. A suggested resource is the Wikipedia article on Euler angles, which serves as a foundational starting point for learning about their mathematical properties and applications.

PREREQUISITES
  • Basic understanding of rotational mechanics
  • Familiarity with coordinate systems
  • Knowledge of mathematical proofs
  • Introductory concepts in linear algebra
NEXT STEPS
  • Research advanced texts on Euler angles, such as "Mathematics for 3D Game Programming and Computer Graphics"
  • Explore the mathematical proofs behind the 3-2-1 rotation sequence
  • Study quaternion representations of rotations for comparison
  • Investigate applications of Euler angles in robotics and aerospace engineering
USEFUL FOR

Students, engineers, and researchers in fields such as robotics, aerospace, and computer graphics who seek to deepen their understanding of rotational dynamics and the mathematical foundations of Euler angles.

Avatrin
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Hi

I am trying to understand Euler angles and why they work. What are some great books to use as a resource to build a deeper understanding of them? I want to know why 3-2-1 Euler angles are so commonly used, and proofs regarding the mathematical properties of this method..
 
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Euler angles are simply a way of parametrizing an arbitrary rotation from one frame to a rotated frame. Have you tried the Wikipedia article below? It is a good starting place.

https://en.wikipedia.org/wiki/Euler_angles
 

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