I have a body in 3D-space and I would like to calculate the rotation axis when the body moves from A to B. I know the location (x, y and z) and the orientation (rx, ry and rz (axis angles)) at both A and B. The difference between A and B is small. The time instant during a dynamics simulation. However, if the small difference is a problem I can make it bigger (within the linear range of this specific simulation).(adsbygoogle = window.adsbygoogle || []).push({});

I have read about Rodriguez' rotation formula and know how to find the axis of rotation, but how can I incorporate the translation components as well? Any help is appreciated!

/Daniel

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# A Principal axis of rotation

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