🌟 Contents 🌟
💎 (00:00​​) Introduction
💎 (01:40​​) ZYX Euler Angles
💎 (03:09​​) Demo for ZYX Euler Angles
💎 (03:19​​) Inverse problem for ZYX Euler Angles
💎 (04:32​​) four-quadrant arctangent in Robotics
💎 (06:04​​) Three-degree-of-freedom wrist mechanism
💎 (06:47​​) Singularities of ZYX Euler Angles Representation
💎 (09:46​​) ZYZ Euler Angles Representation
💎 (10:41​​) Demo for ZYZ Euler Angles
💎 (10:49​​) Robotic Euler Wrist
💎 (12:05​​) Inverse problem for ZYZ Euler Angles
💎 (14:48​​) General form of Euler Angles
💎 (15:26​​) Example: ZXZ Euler Angle Representation for a Given Orientation

In this lesson, we will talk about Euler Angles and will see how we can use this representation to parameterize an orientation.

This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below:
[ Ссылка ]

Be sure to also watch other lessons on Fundamentals of Robotics gathered into a playlist for your convenience as some of the lessons are prerequisites for this lesson.

Thanks for watching! We'd love to have you as a part of the Mecharithm family👇
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References:
📘 Textbooks:
Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch
A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry
🔧 Other:
Husam Aldahiyat (2021). Euler/Fixed Angles Properties ([ Ссылка ]), MATLAB Central File Exchange. Retrieved July 21, 2021.

📝 Notes:
In the video, when comparing arctangent to four-quadrant arctangent, the first and the third quadrant are shown as an example, and arctangent does not also differentiate between the second and the fourth quadrant (when one of the x or y is negative and the other is positive).

💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video).

©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source.

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