Quaternions can be generated from euler angles (euler2quat) but I need to convert back to a set of euler angles for torque calculations. I'm having some trouble following online resources on quat to euler, could someone explain this or provide an example file?
Thank you for your interest and response.
I have read your paper on quaternion and therein references. One of the reference i can attach for you and which can be useful : (especially last 2 matrix equations) https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles.
Have you received an acceptable answer to your question? With a little more detail, I could help:
what is the quaternion you want to convert to Euler angles and why? Is it the error quaternion, the difference between commanded attitude and measured attitude? If so, converting to Euler angles will probably do you no good. If it is the error quaternion, you can decompose the rotation axis and magnitude into components along your torque actuation axes and derive torque commands from there.
Hello Noel, thank you for your interest. till now we didn't received any answer and our attempt to solve it doesn't seem to be bearing any fruits and I also changed my job to flight lab IIT Kanpur so I am away from that problem. But we do have the paper published in VSS'18 conference which I can share. We considered dual quarternion framework for serially connected manipulator and trying to present control torque for 2 dof model. We couldn't achieve the decomposition around the torque axis i.e. Around z axis. We did took torque quaternion and answered the conference query. Any suggestion or your effort would be welcome.
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