Direction Cosines to Euler XYZ

[Michael Fassbind]

Hello,

I was wondering if anyone could give me the converting equations from
the direction cosine matrix to Euler X Y'Z'' euler angles? I have a
set of equations that works but doesn't give a way to account for
angles that can normaly give singularities.

What I have is:
R(x) = atan(DCM(2,3)/DCM(3,3)
R(y) = asin(-DCM(1,3))
R(z) = atan(DCM(1,2)/DCM(1,1))

Thanks,

--
Michael Fassbind
University of Washington
mikefazz@gmail.com
http://students.washington.edu/mikefazz

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