RIGID BODY ROTATION DECOMPOSITION BASED ON FIXED ANGLE ROTATIONS

Any finite rotation of a rigid body can be decomposed into three consecutive fixed-axis rotations. The problem dealt with in this paper is, can any given finite rotation of a rigid body be decomposed into limited times of consecutive fixed step size rotations. Attitude quaternion is employed as the main tool, and a constructive proof, along with the concrete decomposition process is given.