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Robotique Industrielle

UPJV, Département EEA

M1 3EA, Parcours RoVA, EC15

Fabio MORBIDI
Laboratoire MIS
Équipe Perception Robotique
E-mail: fabio.morbidi@u-picardie.fr

Lundi 13h30-16h30 (CM ou TD, salle CURI 305)


(TP, salle TP204)

Année Universitaire 2021-2022


Plan du cours
Chapitre 1 : Introduction
1.1 Définitions

1.2 Constituants d’un robot

1.3 Classification des robots

1.4 Caractéristiques d’un robot

1.5 Générations de robots

1.6 Programmation des robots

1.7 Utilisation des robots

Chapitre 2 : Fondements Théoriques

2.1 Pose d’un corps rigide


• Matrices de rotation et autres représentations de l’orientation
• Transformations homogènes
2
Plan du cours
2.2 Cinématique
• Dérivée d’une matrice de rotation
• Vitesse angulaire d’un repère
• Mouvement de corps rigide
• Torseur cinématique

Chapitre 3 : Modélisation d’un Robot

3.1 Modèle géométrique


• Convention de Denavit-Hartenberg
• Modèle géométrique direct
• Modèle géométrique inverse

3.2 Modèle cinématique


• Modèle cinématique direct
• Modèle cinématique inverse

3
Notation
2 3
a, , M 2 R scalaires (nombres réels)
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x1
6 . 7
x 2 Rn vecteur colonne de dimension n , x = 4 .. 5
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A 2 Rn⇥m
<latexit sha1_base64="4g0R2AX0gTDtfr8lB65JXcTIdhY=">AAACqXicbVHdbtMwFHYDjBFgdOxyNxYdEhKoSiYhdrmJXewGbUPrVtGEynFOOquxY9lOYVh+iT0Nt/AWvA1OmguycSRLn7/znf9MlkybKPozCB48fLTxePNJ+PTZ860Xw+2Xl7qqFYUJrcpKTTOioWQCJoaZEqZSAeFZCVfZ8mPjv1qB0qwSF+ZGQsrJQrCCUWI8NR++29sLkxUYe+RwwgROODHXWWY/u6/W/wzjoDF3oZeF4Xw4isZRa/g+iDswQp2dzbcHkOQVrTkIQ0ui9SyOpEktUYbRElyY1BokoUuygJmHgvhyqW3Hcvi1Z3JcVMo/YXDL/hthCdf6hmde2XSt7/oa8r++XDcJe9Vto1K60H22lgsFsOw3mq+Y1F2r39e99gcxxUFqmZC1AUEdxmEi4ButOCcit8223SxObQJC1wqawtau917gUeycz3YMfl0KPnnyqJTXJPMXaiXyB3X29CJ2tkXcWeYH8YeJ757hPrjcH8fvx9H5/ujwoDvRJtpFr9AbFKMP6BCdoDM0QRTdop/oF/odvA3Og2nwZS0NBl3MDupZQP8C+xTVbQ==</latexit>

matrice avec n lignes et m colonnes xn


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T m⇥n
A 2R
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transposée de la matrice A 2 Rn⇥m


<latexit sha1_base64="rzsjS1EFNcb4X+iXO+ufTYbSNlg=">AAACqXicbVHLbtQwFPWEVxteU1iysZgiIYFGSSUey1awYIP6UKcdMQkjx7mZWhM7lu0MFMs/wdewpX/Rv6mTyaJpeyVLx+ee+85kybSJostBcO/+g4ePNjbDx0+ePns+3HpxoqtaUZjQqqzUNCMaSiZgYpgpYSoVEJ6VcJotvzT+0xUozSpxbM4lpJwsBCsYJcZT8+H77e0wWYGxew4nTOCEE3OWZfbI/bT+ZxgHjbkLvSwM58NRNI5aw7dB3IER6uxgvjWAJK9ozUEYWhKtZ3EkTWqJMoyW4MKk1iAJXZIFzDwUxJdLbTuWw288k+OiUv4Jg1v2eoQlXOtznnll07W+6WvIO325bhL2qttGpXSh+2wtFwpg2W80XzGpu1Z/r3vtD2KKz6llQtYGBHUYh4mAX7TinIjcNtt2szi1CQhdK2gKW7vee4FHsXM+21fw61Lw3ZN7pTwjmb9QK5F/qLP7x7GzLeLOMj+IP0x88wy3wcnOOP4wjg53RrsfuxNtoFfoNXqLYvQJ7aJv6ABNEEV/0T/0H10E74LDYBr8WEuDQRfzEvUsoFf6etVr</latexit>

1
A 2 Rn⇥m
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det(A), A déterminant et inverse de


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In 2 Rn⇥n
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matrice identité n ⇥ n
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0n⇥m 2 Rn⇥m
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matrice de zéros n ⇥ m
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T
<latexit sha1_base64="OTIWDI/p4m0ZcYceVq2DnP2FZFc=">AAACvHicbVFNb9MwGHbDx0b46uDIJaJF4lBVySRgF2AIDlwQQ2q3SU2oHOdNZ9V2LNspK5Z/Dr+GKxz4NzhZJpGNV7L86Hne7zeXjGoTx38GwY2bt27v7N4J7967/+DhcO/Rsa5qRWBOKlap0xxrYFTA3FDD4FQqwDxncJKv3zf6yQaUppWYma2EjOOVoCUl2HhqOXw7Hocpw2LFIEo3YOy5m6STFm1dlKpOmbxOJ5f619mlHI7Hy+EonsatRddB0oER6uxouTeAtKhIzUEYwrDWiySWJrNYGUoYuDCtNUhM1ngFCw8F5qAz207qomeeKaKyUv4JE7XsvxEWc623PPeeHJszfVVryP9qhW4S9qrbxkvpUvfZWq4UwLrfaLGhUnetnl/02h/ElAeZpULWBgRxURSmAr6RinMsCtvs0y2SzKYgdK2gKWxt2nx5GY0S53y2D+DXpeCTJ98xeYZzf4PWRX4nzn6eJc62iDtL/SD+MMnVM1wHx/vT5MU0/rI/OnzZnWgXPUFP0XOUoFfoEH1ER2iOCPqBfqJf6HfwJiiCdcAvXINBF/MY9SzY/AXQot4W</latexit>

hx, yi = x y produit scalaire des vecteurs x, y 2 Rn


<latexit sha1_base64="0CSgb9EpIqxrVg1HWjy6zS9vLnE=">AAACpnicbVFNb9QwEPWGrxK+tnDkYrGLVKRqlVSC9lgEBy5AQd1upU1YHGeytTZ2LNtZulj+DfwarvA7+Dc42RxIy0iWnt48z7yZyWTJtImiP4Pgxs1bt+/s3A3v3X/w8NFw9/GZrmpFYUqrslLnGdFQMgFTw0wJ51IB4VkJs2z1psnP1qA0q8Sp2UhIOVkKVjBKjKcWwxfjcZiswdhLt5/st2jjcMIETjgxF1lmP7svAofj8WI4iiZRG/g6iDswQl2cLHYHkOQVrTkIQ0ui9TyOpEktUYbRElyY1BokoSuyhLmHgnDQqW1ncvi5Z3JcVMo/YXDL/vvDEq71hmde2RjVV3MN+d9crpuCve62USld6D5by6UCWPWN5msmdWf1cuu1P4gpjlLLhKwNCOowDhMB32jFORG5bRbs5nFqExC6VtA0tna76gKPYud8tbfg16XgvSdfl/KCZP4orUR+p85+PI2dbRF3lvlB/GHiq2e4Ds4OJvHLSfTpYHT8qjvRDnqKnqE9FKNDdIzeoRM0RRT9QD/RL/Q72As+BNNgtpUGg+7PE9SL4OtfLh3VMw==</latexit>

p
kxk = hx, xi norme euclidienne du vecteur x 2 Rn
<latexit sha1_base64="5grAjmh0RrefZLfjJnBqQPexbu0=">AAACvHicbVHLbtQwFPWEVwmvKSzZWMwgsRiNkkoFNkARLNggitRpK42jkePcmVoTO8Z2hhbXn8PXsIUFf4OTBom0XMny0bnnvnNVcmOT5Pcgunb9xs1bW7fjO3fv3X8w3H54aKpaM5ixqqz0cU4NlFzCzHJbwrHSQEVewlG+ftf4jzagDa/kgT1TkAm6knzJGbWBWgzfjMcxOScbsO7Uk3NMJq/IBBPzRVtHSipXJXTOCZn8lemW9zgejxfDUTJNWsNXQdqBEepsf7E9AFJUrBYgLSupMfM0UTZzVFvOQtKY1AYUZWu6gnmAkgowmWsn9fhpYAq8rHR40uKW/TfCUWHMmciDUlB7Yi77GvK/vsI0CXvVXaPSZmn6bK1WGmDdb7TYcGW6Vk8veu0PYpcvM8elqi1I5jGOiYSvrBKCysI1e/XzNHMEpKk1NIWdI82XL/Eo9T5kew9hXRo+BvJtqU5oHm7RStQ35t2ng9S7FgnveBgkHCa9fIar4HBnmu5Ok887o73n3Ym20GP0BD1DKXqB9tAHtI9miKHv6Af6iX5Fr6MiWkfiQhoNuphHqGfR5g9xut7V</latexit>

<latexit sha1_base64="UDEwv8OlGST2mxK/Pix2wf9WHhQ=">AAACoHicbVHLTtwwFPUE2tL0waPLbiwGpK5GCRK0S6qyYIOAigHUSUCOczNYEzuW7UwByx/A13Tbfkr/pk4miwa4kqWjc47vM5Ml0yaK/g6CpeUXL1+tvA7fvH33fnVtfeNcV7WiMKZVWanLjGgomYCxYaaES6mA8KyEi2z2rdEv5qA0q8SZuZOQcjIVrGCUGE9drw23tsJkDsbeOpwwgRNOzE2W2e/uygoXejUMvSsaRW3gpyDuwBB1cXK9PoAkr2jNQRhaEq0ncSRNaokyjJbgwqTWIAmdkSlMPBSEg05tO43D257JcVEp/4TBLfv/D0u41nc8886mWf1Ya8hntVw3CXvVbeNSutB9tpZTBTDrN5rPmdRdq7eLXvuDmOJLapmQtQFBHcZhIuAnrTgnIrfNkt0kTm0CQtcKmsLWLtZd4GHsnM92AH5dCo48+bWUNyTzh2kt8p46e3wWO9si7izzg/jDxI/P8BSc74zi3VF0ujPc3+tOtII+ok30CcXoM9pHh+gEjRFFD+gX+o3+BJvBYXAcnC6swaD78wH1IvjxD/860h0=</latexit>

x ⇥ y produit vectoriel des vecteurs x, y 2 R3


<latexit sha1_base64="xxL/9tFJdtio4cYhh7K1je8goeU=">AAACpnicbVHbbtQwEPWGWwmXbuGRF4tdpCJVq6SIy2MRPPACFNTtVtqExXEmW2tjx7KdpYvlb+BreIXv4G9wsnkgLSNZOjpzPHNmJpMl0yaK/gyCa9dv3Ly1czu8c/fe/d3h3oNTXdWKwpRWZaXOMqKhZAKmhpkSzqQCwrMSZtnqTZOfrUFpVokTs5GQcrIUrGCUGE8thk/H4zBZg7EX7iA5aNHG4YQJnHBizrPMfnZfnuFwPF4MR9EkagNfBXEHRqiL48XeAJK8ojUHYWhJtJ7HkTSpJcowWoILk1qDJHRFljD3UBAOOrXtTA4/8UyOi0r5Jwxu2X9/WMK13vDMKxuj+nKuIf+by3VTsNfdNiqlC91na7lUAKu+0XzNpO6sXmy99gcxxavUMiFrA4I6jMNEwDdacU5EbpsFu3mc2gSErhU0ja3drrrAo9g5X+0t+HUpeO/J16U8J5k/SiuR36mzH09iZ1vEnWV+EH+Y+PIZroLTw0n8fBJ9OhwdvehOtIMeocdoH8XoJTpC79AxmiKKfqCf6Bf6HewHH4JpMNtKg0H35yHqRfD1L7Ga1Pg=</latexit>

<latexit sha1_base64="qu9/S2MxReiQbCoAdwRs6TXLopg=">AAACmXicbVHLTtwwFPWktKXpayhLurCYqdTVKEHqYwlqF6hSVRAMIE2ikePcDNbEjmU7U6aWN3xNt+3f9G/qhCwIcCXLx+ee+/LNZMm0iaJ/g+DRxuMnTzefhc9fvHz1erj15kxXtaIwpVVZqYuMaCiZgKlhpoQLqYDwrITzbPml8Z+vQGlWiVOzlpByshCsYJQYT82Hb8fjMFmBsVcOJ4Zx0Lh9rl04Hs+Ho2gStYbvg7gDI9TZ0XxrAEle0ZqDMLQkWs/iSJrUEmUYLcGFSa1BErokC5h5KIgvmNp2DIffeSbHRaX8EQa37O0IS7jWa555JSfmUt/1NeSDvlw3CXvVbaNSutB9tpYLBbDsN5qvmNRdq1c3vfYHMcXn1DIhawOCOozDRMBPWnFORG6b73SzOLUJCF0raApbmzRXVuBR7JzP9hX8dyn47smDUl6SzK+glchf1Nkfp7GzLeLOMj+IX0x8dw33wdneJP4wiY73RvsfuxVtoh20i96jGH1C++gQHaEpouga/UZ/0N9gJzgIDoNvN9Jg0MVso54FJ/8BaRzQSA==</latexit>

4
Motivation
ze effecteur
<latexit sha1_base64="FulbYATOGv/d5ZYk36dXm+6GnUc=">AAAChHicbVFNT9wwEPWmlI/QDyhHLhG7lXqoVslWCE6Iqhy4IEBigWoTrRxnslgbO5btbAuWfwVX+GH8G5zdHAgwkuWnN29mnj2pKKjSYfjU8T4sfVxeWV3z1z99/vJ1Y/PbpSorSWBIyqKU1ylWUFAOQ011AddCAmZpAVfp9E+dv5qBVLTkF/pWQMLwhNOcEqwd9bfX8+/G4Pd6441u2A/nEbwFUQO6qImz8WYH4qwkFQOuSYGVGkWh0InBUlNSgPXjSoHAZIonMHKQYwYqMXPHNvjumCzIS+kO18GcfVlhMFPqlqVOybC+Ua9zNfluLlN1w9Z0U6ukylWbrcREAkzbRrMZFaqx+n/htf0Qne8nhnJRaeDEBoEfc/hHSsYwz0w8A21HUWJi4KqSUA82Jq6vNA+6kbWu2xG475Jw4sjfhbjBKeiFRNwRa04vImvmiFlD3UPcYqLXa3gLLgf9aLcfng+6h4NmRatoG+2gHyhCe+gQHaMzNEQEMXSPHtCjt+z99H55uwup12lqtlArvINncSbHng==</latexit>

✓4
<latexit sha1_base64="L2iySqJDE1wn298iAQdb77ClnyI=">AAACjnicbVFBT9swFHbDGF0GW8uOu0QrkzhVScWAyzSm7cBlGpMoIDVR5TgvrdXYsWynUCz/lF3hN+3fzGlzWGBPsvzpe99777NfKgqqdBj+6XhbL7Zf7nRf+a9399687fX3r1RZSQJjUhalvEmxgoJyGGuqC7gREjBLC7hOF9/q/PUSpKIlv9QrAQnDM05zSrB21LTXPzjwYz0HjadHvsO+P+0NwmG4juA5iBowQE1cTPsdiLOSVAy4JgVWahKFQicGS01JAdaPKwUCkwWewcRBjhmoxKy92+CjY7IgL6U7XAdr9t8Kg5lSK5Y6JcN6rp7mavK/uUzVDVvTTa2SKldtthIzCbBoG82WVKjG6t3Ga/shOj9NDOWi0sCJDQI/5nBLSsYwz0y8BG0nUWJi4KqSUA82Jq6vNA8GkbWu23dw3yXhhyO/FmKOU9Abibgn1vy8jKxZI2YNdQ9xi4meruE5uBoNo0/D8NdocDZqVtRF79EHdIgidILO0Dm6QGNE0C36jR7Qo9fzjr3P3peN1Os0Ne9QK7zzvztZygQ=</latexit>

Robot générique <latexit sha1_base64="6WlxDi9BBwkjzR3a9pwqzWv5rkU=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIE6SGXoikQZ4ElGBQ1cgiLFEFSzkLwK3ptPqx/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zQGv9cbb3fDfjiP4D2IGtBFTVyNdzoQZyWpGHBNCqzUKAqFTgyWmpICrB9XCgQmUzyBkYMcM1CJmTu2wZ5jsiAvpTtcB3P23wqDmVLPLHVKhvWDepuryf/mMlU3bE03tUqqXLXZSkwkwLRtNJtRoRqrTwuv7Yfo/CQxlItKAyc2CPyYwyMpGcM8M/EMtB1FiYmBq0pCPdiYuL7SPOhG1rpu38B9l4TvjjwvxANOQS8k4oVY8+M6smaOmDXUPcQtJnq7hvfgZtCPjvrhz0H3bNCsaA19QV/RPorQMTpDl+gKDRFBDP1Cv9Grt+IdeIfe0ULqdZqaz6gV3ulfbOzHnA==</latexit>

xe O <latexit sha1_base64="Y2Bu+FkR2RxBic3cvVHMU6jPoqE=">AAAChHicbVFNT9wwEPUGykeg5aNHLhG7lThUqwSE4IRA9NBLBUgsUG2ileNMFmtjx7Kd5cPyr+Da/rD+mzq7ORBgJMtPb97MPHtSUVClw/Bfx1tY/LS0vLLqr61//rKxubV9o8pKEhiQsijlXYoVFJTDQFNdwJ2QgFlawG06Oa/zt1OQipb8Wj8JSBgec5pTgrWjfvd6/sUI/F5vtNkN++EsgvcgakAXNXE52upAnJWkYsA1KbBSwygUOjFYakoKsH5cKRCYTPAYhg5yzEAlZubYBt8ckwV5Kd3hOpixrysMZko9sdQpGdb36m2uJj/MZapu2JpuapVUuWqzlRhLgEnbaDalQjVWH+de2w/R+XFiKBeVBk5sEPgxhwdSMoZ5ZuIpaDuMEhMDV5WEerAxcX2ledCNrHXdfoD7Lgm/HHlWiHucgp5LxDOx5uI6smaGmDXUPcQtJnq7hvfgZr8fHfbDq/3uab9Z0QraQbtoD0XoCJ2in+gSDRBBDL2gP+ivt+R99w68w7nU6zQ1X1ErvJP/FRPHbw==</latexit>

à n articulations e
<latexit sha1_base64="liD3qF0ROA8pQso50OrSVLeWu60=">AAACgnicbVFNb9QwEPWmn4RStuXIJWIXCXFYxVuhcuDQqhy4VBSp2620iSrHmWytjR3LdhZayz+iV/hl/Js6uzmQlpEsP715M/PsyWTJtInjv71gY3Nre2f3Rfhy79X+6/7B4ZWuakVhQquyUtcZ0VAyARPDTAnXUgHhWQnTbHHW5KdLUJpV4tLcSUg5mQtWMEqMp6bDYSjC4fCmP4hH8Sqi5wC3YIDauLg56EGSV7TmIAwtidYzHEuTWqIMoyW4MKk1SEIXZA4zDwXhoFO78uui957Jo6JS/ggTrdh/KyzhWt/xzCs5Mbf6aa4h/5vLddOwM902KqUL3WVrOVcAi67RfMmkbq3+WnvtPsQUn1PLhKwNCOqiKEwE/KQV50TkNlmCcTOc2gSErhU0g61NmisrogF2znf7Cv67FJx78rSUtyQDs5bIe+rs90vs7ApxZ5l/iF8MfrqG5+BqPMKfRvGP8eBk3K5oF71F79AHhNExOkHf0AWaIIoW6AH9Rn+CzeBjgIOjtTTotTVvUCeCL49uF8a6</latexit>

d3 ye
<latexit sha1_base64="HH1c6ALo19xnpe6Duyvj5t4KizM=">AAACh3icbVHLTtwwFPWkQCFQHmXJJmJAYjVNBlFYgsqimwqQGECaRCPHuRmsiR3LdoaH5d/oFn6rf1NnJgsCXMm6R+ee+/JNRUGVDsN/He/LwuLS1+UVf3Xt2/rG5tb3G1VWksCAlEUp71KsoKAcBprqAu6EBMzSAm7Tya86fjsFqWjJr/WTgIThMac5JVg7Kt7b87PRoe+c7482u2EvnFnwEUQN6KLGLkdbHYizklQMuCYFVmoYhUInBktNSQHWjysFApMJHsPQQY4ZqMTMhrbBvmOyIC+le1wHM/ZthsFMqSeWOiXD+l69j9Xkp7FM1QVb3U2tkipXbbYSYwkwaQ+aTalQzaiP81nbi+j8JDGUi0oDJzYI/JjDAykZwzwz8RS0HUaJiYGrSkLd2Ji4dmkedCNrXbVzcN8l4Y8jzwpxj1PQc4l4JtZcXEfWzBCzhrpF3GGi92f4CG76veioF171u6f95kTLaAftogMUoWN0in6jSzRABAn0F72gV2/F++H99E7mUq/T5Gyjlnln/wGNvMeS</latexit>

<latexit sha1_base64="oiypt7a16J2MdFu4ice0RxXHWOU=">AAAChHicbVFNT9wwEPWmlI/QD2iPvUTsIvVQrZJFqJwQqBy4VFCJ5UObaOU4k11rY8eynYWt5V/Btfyw/ps6uzk0wEiWn968mXn2pKKgSofh3473Zu3t+sbmlr/97v2Hjzu7n65VWUkCQ1IWpbxNsYKCchhqqgu4FRIwSwu4SWc/6vzNHKSiJb/SCwEJwxNOc0qwdtRdr+cvxuD3euOdbtgPlxG8BFEDuqiJy/FuB+KsJBUDrkmBlRpFodCJwVJTUoD140qBwGSGJzBykGMGKjFLxzbYd0wW5KV0h+tgyf5fYTBTasFSp2RYT9XzXE2+mstU3bA13dQqqXLVZisxkQCzttFsToVqrD6svLYfovOjxFAuKg2c2CDwYw73pGQM88zEc9B2FCUmBq4qCfVgY+L6SvOgG1nrup2B+y4JPx15WogpTkGvJOI3sebiKrJmiZg11D3ELSZ6voaX4HrQjw774a9B92TQrGgTfUF76CuK0Hd0gs7RJRoighh6RH/Qk7fuffMOvMOV1Os0NZ9RK7zjf28Jx50=</latexit>

✓2
<latexit sha1_base64="a8dz08AjNSFdHQCjtp3cT2HokxM=">AAACjnicbVFBT9swFHazMVgYo92Ou0QrSDtVSaUNLgim7cBlopNaQGqiynFeWquxY9lOGbP8U7jCb+LfzGlzILAnWf70ve+999kvFQVVOgwfO96r11tvtnfe+rvv9t7vd3sfLlVZSQITUhalvE6xgoJymGiqC7gWEjBLC7hKlz/q/NUKpKIlH+tbAQnDc05zSrB21KzbOzjwY70AjWdD32Hfn3X74SBcR/ASRA3ooyZGs14H4qwkFQOuSYGVmkah0InBUlNSgPXjSoHAZInnMHWQYwYqMWvvNjh0TBbkpXSH62DNPq0wmCl1y1KnZFgv1PNcTf43l6m6YWu6qVVS5arNVmIuAZZto9mKCtVY/bPx2n6Izo8TQ7moNHBig8CPOdyQkjHMMxOvQNtplJgYuKok1IONiesrzYN+ZK3r9hPcd0n45cjvhVjgFPRGIv4Say7GkTVrxKyh7iFuMdHzNbwEl8NB9HUQ/h72z4bNinbQJ/QZfUEROkJn6ByN0AQRdIPu0D168LreN+/EO91IvU5T8xG1wjv/BzcdygI=</latexit>

q = [✓1 , ✓2 , d3 , ✓4 , . . .]T 2 Rn
<latexit sha1_base64="devQp3fsFz0g/nVjYjuKcl/05lE=">AAACzXicbVFNj9MwEHXD1xK+unDkYtEicaiqpIDggrQIDlzQFtTurlRnI8eZtlYTx8ROYTHmyj/ivyBxhd+Bk0aC7DKSpac345k38xKZcaWD4EfPu3T5ytVre9f9Gzdv3b7T3797pIqqZDBnRVaUJwlVkHEBc811BieyBJonGRwnm1d1/ngLpeKFmOkzCVFOV4IvOaPaUXF/Ohz6ZAvafLD4BV4QvQZN43BERi2cOJjGj/8ST0YkSwutotMZJlxgklO9ThLz3p4KfziM+4NgHDSBL4KwBQPUxjTe7wFJC1blIDTLqFKLMJA6MrTUnGVgfVIpkJRt6AoWDgqag4pMs7rFDx2T4mVRuic0bth/fxiaK3WWJ66y1qnO52ryv7lU1Q07001dVaql6rKVXJUAm67QdMulaqV+2mntLqKXzyPDhaw0CGYx9omAj6zIcypSUztiF2FkCAhVlVAPNmZ36SUehNa6bq/BnauEt458mck1TZyLTYn8zKw5nIXWNCi3hrtFnDHheRsugqPJOHw6Dt5NBgeT1qI9dB89QI9QiJ6hA/QGTdEcMfQd/US/0G/v0Ku8L97XXanXa//cQ53wvv0Blfjjbw==</latexit>

zb
<latexit sha1_base64="Ny0wCcpBU2utVc5V7nc583EDJVk=">AAAChHicbVFNT9wwEPWmlI/QDyhHLhG7lXqoVslWCE6Iqhy4IEBigWoTrRxnslgbO5btbAuWfwVX+GH8G5zdHAgwkuWnN29mnj2pKKjSYfjU8T4sfVxeWV3z1z99/vJ1Y/PbpSorSWBIyqKU1ylWUFAOQ011AddCAmZpAVfp9E+dv5qBVLTkF/pWQMLwhNOcEqwd9bfX8+/Gqd/rjTe6YT+cR/AWRA3ooibOxpsdiLOSVAy4JgVWahSFQicGS01JAdaPKwUCkymewMhBjhmoxMwd2+C7Y7IgL6U7XAdz9mWFwUypW5Y6JcP6Rr3O1eS7uUzVDVvTTa2SKldtthITCTBtG81mVKjG6v+F1/ZDdL6fGMpFpYETGwR+zOEfKRnDPDPxDLQdRYmJgatKQj3YmLi+0jzoRta6bkfgvkvCiSN/F+IGp6AXEnFHrDm9iKyZI2YNdQ9xi4ler+EtuBz0o91+eD7oHg6aFa2ibbSDfqAI7aFDdIzO0BARxNA9ekCP3rL30/vl7S6kXqep2UKt8A6eAWrVx5s=</latexit>

? vecteur des variables


articulaires
Ob
<latexit sha1_base64="i30BTwzAsRMkX5CzHoFwFZxUBOY=">AAAChHicbVFNT9wwEPUGykeg5aNHLhG7lThUqwSE4IRA9NBLBUgsUG2ileNMFmtjx7Kd5cPyr+Da/rD+mzq7ORBgJMtPb97MPHtSUVClw/Bfx1tY/LS0vLLqr61//rKxubV9o8pKEhiQsijlXYoVFJTDQFNdwJ2QgFlawG06Oa/zt1OQipb8Wj8JSBgec5pTgrWjfvd6/sUo9Xu90WY37IezCN6DqAFd1MTlaKsDcVaSigHXpMBKDaNQ6MRgqSkpwPpxpUBgMsFjGDrIMQOVmJljG3xzTBbkpXSH62DGvq4wmCn1xFKnZFjfq7e5mvwwl6m6YWu6qVVS5arNVmIsASZto9mUCtVYfZx7bT9E58eJoVxUGjixQeDHHB5IyRjmmYmnoO0wSkwMXFUS6sHGxPWV5kE3stZ1+wHuuyT8cuRZIe5xCnouEc/EmovryJoZYtZQ9xC3mOjtGt6Dm/1+dNgPr/a7p/1mRStoB+2iPRShI3SKfqJLNEAEMfSC/qC/3pL33TvwDudSr9PUfEWt8E7+Aw7Cx2w=</latexit>

✓1
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yb
base xb
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• Un manipulateur peut être représenté comme une chaîne cinématique de


segments reliés par l'intermédiaire d'articulations rotoïdes ou prismatiques
• Le mouvement résultant de la structure est obtenu par composition des
mouvements élémentaires de chaque segment par rapport au précédent
• Afin de manipuler un objet dans l'espace, il est nécessaire de décrire
la position et l'orientation (pose) de l'effecteur

Objectif: exprimer la pose de l’effecteur en fonction des variables des


articulations, par rapport à un repère donné (ex. le repère de la base)
5
2.1 Pose d’un corps rigide

La pose d'un corps rigide (ou solide) dans l'espace 3D peut être
complètement décrite par 6 paramètres indépendants:

• 3 paramètres indépendants définissent la position


d'un point, noté O 0, du solide dans le repère fixe O-xyz
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(ex. coordonnées cartésiennes, cylindriques ou sphériques)

• 3 paramètres indépendants déterminent l'orientation


du solide autour du point O 0 (ex. les angles d’Euler)
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solide

0
z0 0
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z
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y <latexit sha1_base64="WSPUnJhajczX6hxg4y5M/iMQTm0=">AAACg3icbVFNT9wwEPWmpaXpFx/HXqLuVq1UaZVsi+CCBIIDl6pUYmGlTYQcZ7JYazuW7SxQy3+i1/LH+Dc4uzk00JEsP715M/PsySWj2sTxfS949nztxcv1V+HrN2/fvd/Y3DrXVa0IjEnFKjXJsQZGBYwNNQwmUgHmOYOLfH7U5C8WoDStxJm5lZBxPBO0pAQbT00Gg/DmczgYXG7042G8jOgpSFrQR22cXm72IC0qUnMQhjCs9TSJpcksVoYSBi5Maw0SkzmewdRDgTnozC4Nu+iTZ4qorJQ/wkRL9t8Ki7nWtzz3So7NlX6ca8j/5grdNOxMt41K6VJ32VrOFMC8a7RYUKlbqzcrr92HmHIvs1TI2oAgLorCVMA1qTjHorDpAoybJplNQehaQTPY2rS58jLqJ875bsfgv0vBD08eMnmFczArifxNnP15lji7RNxZ6h/iF5M8XsNTcD4aJjvD+Neof/CtXdE6+oA+oi8oQbvoAJ2gUzRGBDH0B/1Fd8Fa8DUYBd9X0qDX1myjTgT7D/vdxvY=</latexit>

x
y
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O0
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O x
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<latexit sha1_base64="Tb/n/JgogXgVineBfX+uL8f+dmU=">AAACgnicbVHBTtwwEPWmFGhaKLTHXqLuIiEOqxiEyoHDVu2hF1QqsSzSJkKOM1msjR3Ldpallj+i1/bL+jc4uzk00JEsP715M/PsyWTJtInjv73gxcbLza3tV+HrNzu7b/f2313rqlYUxrQqK3WTEQ0lEzA2zJRwIxUQnpUwyeZfmvxkAUqzSlyZBwkpJzPBCkaJ8dRkMAiX4WBwu9ePh/EqoucAt6CP2ri83e9Bkle05iAMLYnWUxxLk1qiDKMluDCpNUhC52QGUw8F4aBTu/LrogPP5FFRKX+EiVbsvxWWcK0feOaVnJg7/TTXkP/N5bpp2JluG5XShe6ytZwpgHnXaL5gUrdWl2uv3YeY4iy1TMjagKAuisJEwD2tOCcit8kCjJvi1CYgdK2gGWxt0lxZEfWxc77bV/DfpeDCk59LeUcyMGuJ/Emd/X6FnV0h7izzD/GLwU/X8BxcHw/x6TD+cdwfnbYr2kYf0Ed0iDD6hEboG7pEY0TRHP1Cv9GfYCM4CnBwspYGvbbmPepEcP4IhAzGxw==</latexit>

repère fixe
6
y0
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z0
<latexit sha1_base64="2Z/EaN0zEivnPGS7CoZmrh4otqo=">AAACiXicbVHLTtwwFPWEPmhoy2vZTdQZ1K5GMQIVsaKCRTdVQWIAaZIix7kZrIkdy3aGguX/YEv/qn9TJ2RBgCtZPjr3fU8mS6ZNHP8bBEuvXr95u/wuXHn/4ePq2vrGma5qRWFCq7JSFxnRUDIBE8NMCRdSAeFZCefZ/LDxny9AaVaJU3MjIeVkJljBKDGe+j0ahckCjL11X8LR6HJtGI/j1qLnAHdgiDo7vlwfQJJXtOYgDC2J1lMcS5NaogyjJbgwqTVIQudkBlMPBeGgU9uO7aItz+RRUSn/hIla9nGGJVzrG575SE7MlX7qa8gXfbluCva62yZK6UL32VrOFMC8P2i+YFJ3o/55mLW/iCn2UsuErA0I6qIoTARc04pzInLb3NNNcWoTELpW0DS2Nmm+rIiG2Dlf7Qj8uRT89OT3Ul6RzGvQhshb6uyvU+xsi7izzC/ihcFPZXgOzrbHeHccn2wPD3Y6iZbRJ/QZfUUYfUMH6Ac6RhNEkUJ36B79DVYCHOwF+w+hwaDL2UQ9Cw7/A3yjydg=</latexit>

O0
<latexit sha1_base64="E5gcOTiShZsYrvNQdlpf7k0wcy8=">AAAChHicbVFNT9wwEPWGlo/0AyhHLhG7iB6qVbIIwakCwYFLBUgsUG0i5DiTxdrYsWxnW7D8K7jCD+Pf4Ozm0EBHsvz05s3MsycVBVU6DF863sKHj4tLyyv+p89fvq6urX+7UmUlCQxJWZTyJsUKCsphqKku4EZIwCwt4DqdHNf56ylIRUt+qe8FJAyPOc0pwdpRv3s9/2wn8Hu927Vu2A9nEbwHUQO6qInz2/UOxFlJKgZckwIrNYpCoRODpaakAOvHlQKByQSPYeQgxwxUYmaObbDtmCzIS+kO18GM/bfCYKbUPUudkmF9p97mavK/uUzVDVvTTa2SKldtthJjCTBpG82mVKjG6t+51/ZDdH6QGMpFpYETGwR+zOEPKRnDPDPxFLQdRYmJgatKQj3YmLi+0jzoRta6bifgvkvCL0ceFeIOp6DnEvFArDm7jKyZIWYNdQ9xi4neruE9uBr0o71+eDHoHg6aFS2jTbSFvqMI7aNDdIrO0RARxNAjekLP3qL3w9v19uZSr9PUbKBWeD9fAQ7RxvY=</latexit>

solide
x0
<latexit sha1_base64="QbFleFBXJ9R5P0cPLx6m/1EOwR8=">AAACjHicbVFdS9xAFJ1NP9TU6qqPfQndLfZpScRSQQRLpfSlVMFVYROWyeRmHTYzGWYmq3aYX+Kr/ij/jZOYh0a9MMzh3O97UlFQpcPwoee9efvu/dLyiv9h9ePaen9j80yVlSQwJmVRyosUKygoh7GmuoALIQGztIDzdP6z9p8vQCpa8lN9IyBheMZpTgnWjpr214dDP16ANtd2O/CHw2l/EI7CxoKXIGrBALV2PN3oQZyVpGLANSmwUpMoFDoxWGpKCrB+XCkQmMzxDCYOcsxAJaaZ3AZfHJMFeSnd4zpo2P8zDGZK3bDURTKsL9VzX02+6stUXbDT3dRRUuWqy1ZiJgHm3UGzBRWqHfX6adbuIjrfSwzlotLAiQ0CP+ZwRUrGMM9MfVA7iRITA1eVhLqxMXH9pXkwiKx11Y7AnUvCH0f+KMQlTp0ITYj4R6z5expZ0yBmDXWLOGGi5zK8BGc7o+jbKDzZGRzuthIto0/oM/qKIvQdHaLf6BiNEUEVukV36N5b83a9fe/gKdTrtTlbqGPer0dun8ox</latexit>

repère fixe
<latexit sha1_base64="dLM3a6Birapq7lsuwC788MdyUL4=">AAACiHicbVHLTtwwFPWE8koL5bFkEzFTqatRgqgoOwosukGAxADSJEKOczNYEzuu7UwBy9/BFj6rf4MTsiDQK1k+Ovd9TyoKqnQY/ut5c5/mFxaXlv3PX1ZWv66tb1yqspIERqQsSnmdYgUF5TDSVBdwLSRglhZwlU6Pav/VDKSiJb/Q9wIShiec5pRg7ahkMPDjGWjzYP3B4GatHw7DxoKPIGpBH7V2drPegzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OSYL8lK6x3XQsG8zDGZK3bPURTKsb9V7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rd66zdRXT+MzGUi0oDJzYI/JjDX1Iyhnlm6nPacZSYGLiqJNSNjYnrL82DfmStq3YM7lwSThz5qxC3OHUSNCHigVhzehFZ0yBmDXWLOGGi9zJ8BJc7w+jHMDzf6R/sthItoS20jb6jCO2hA/QbnaERIugPekRP6NnzvdDb8/ZfQ71em7OJOuYdvgABh8mn</latexit>

z o0
<latexit sha1_base64="n7zI4MvyLpG9p/s6X0BskxLQlZU=">AAACjHicbVFda9swFFW89ctb27R73ItZMtanYJeWFkqhY2PsZSyDpi3EJsjydSpiyUKS03ZCv2Sv24/av6ns+GFud0HocO73PakoqNJh+LfnvXi5tr6xueW/er29s9vf279SZSUJTEhZlPImxQoKymGiqS7gRkjALC3gOl18qv3XS5CKlvxSPwhIGJ5zmlOCtaNm/d3h0I+XoE1pPwT+cDjrD8JR2FjwHEQtGKDWxrO9HsRZSSoGXJMCKzWNQqETg6WmpADrx5UCgckCz2HqIMcMVGKayW3w3jFZkJfSPa6Dhv03w2Cm1ANLXSTD+lY99dXkf32Zqgt2ups6SqpcddlKzCXAojtotqRCtaPer2btLqLz08RQLioNnNgg8GMOd6RkDPPM1Ae10ygxMXBVSagbGxPXX5oHg8haV+0zuHNJ+ObIj4W4xakToQkRP4k13y8jaxrErKFuESdM9FSG5+DqcBQdj8Ifh4OLo1aiTfQWvUMHKEIn6AJ9RWM0QQRV6Bf6jf54O96Rd+adr0K9XpvzBnXM+/IIW5HKKA==</latexit>

O-xyz
<latexit sha1_base64="KO9EqoWrPOZ0jD5sViBhEI4rWIg=">AAACpHicbVHLbtQwFPWEVwmPTsuSTcQMjw2jpAjRZREsWIAootNWmoSR49xMrbEdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTS0a1ieM/g+DGzVu37+zcDe/df/Bwd7i3f6qrWhGYkopV6jzHGhgVMDXUMDiXCjDPGZzly3dN/mwFStNKnJiNhIzjhaAlJdh4aj58Ph6HqYG1aVvZnGGydPZzS9mXbh1toksXjsfz4SiexG1E10HSgRHq4ni+N4C0qEjNQRjCsNazJJYms1gZShi4MK01SD8NL2DmocAcdGbbNVz01DNFVFbKH2Gilv23wmKu9YbnXsmxudBXcw3531yhm4a96bZRKV3qPlvLhQJY9hctVlTqbtX1dtf+Q0x5mFkqZG1AEBdFYSrgO6k4x6Kw6QqMmyWZTUHoWkEz2Nq0ufIyGiXO+W7vwX+Xgk+efMvkBc7BbCXyknhnThJnW8Sdpf4h3pjkqg3XwenBJHk9ib8cjI5edRbtoMfoCXqBEvQGHaEP6BhNEUE/0E/0C/0OngUfg6/BdCsNBl3NI9SL4Ntf9NDVKw==</latexit>

y
<latexit sha1_base64="6dframh+W+dy/cr1q3oU7c1uL04=">AAACiHicbVHLTtwwFPWEQmnKm2U3ETOVWI0S1Iqyo8CiGwRIDCBNIuQ4N4M1sWNsZ+hg+TvYtp/Vv8EJWRDolSwfnfu+JxUFVToM//W8hQ+LSx+XP/mfV1bX1jc2t65UWUkCI1IWpbxJsYKCchhpqgu4ERIwSwu4TqfHtf96BlLRkl/quYCE4QmnOSVYOyoZDPx4BtrMrT8Y3G70w2HYWPAeRC3oo9bObzd7EGclqRhwTQqs1DgKhU4MlpqSAqwfVwoEJlM8gbGDHDNQiWmmtsFXx2RBXkr3uA4a9nWGwUypOUtdJMP6Tr311eR/fZmqC3a6mzpKqlx12UpMJMC0O2g2o0K1o/5+mbW7iM5/JIZyUWngxAaBH3N4ICVjmGemPqcdR4mJgatKQt3YmLj+0jzoR9a6aifgziXh1JE/C3GHUydBEyIeiTVnl5E1DWLWULeIEyZ6K8N7cLU3jL4Pw4u9/uG3VqJl9AXtoF0UoX10iH6hczRCBN2jJ/QH/fV8L/T2vYOXUK/X5myjjnlHz/9cyaY=</latexit>

O
<latexit sha1_base64="SHANididX9/DmomZrkEq+UAufYs=">AAACg3icbVHBTtwwEPWGQmlo6dIee4m6i1Sp0ipZFdFLJSp64FJBJRZW2kTIcSaLtbZj2c4WsPwTvZYf429wdnNooCNZfnrzZubZk0tGtYnjh16w8WJz6+X2q3Dn9Zvdt/29dxe6qhWBCalYpaY51sCogImhhsFUKsA8Z3CZL46b/OUSlKaVODe3EjKO54KWlGDjqelwGJ5G4XB41R/Eo3gV0XOQtGCA2ji72utBWlSk5iAMYVjrWRJLk1msDCUMXJjWGiQmCzyHmYcCc9CZXRl20b5niqislD/CRCv23wqLuda3PPdKjs21fppryP/mCt007Ey3jUrpUnfZWs4VwKJrtFhSqVurN2uv3YeY8mtmqZC1AUFcFIWpgN+k4hyLwqZLMG6WZDYFoWsFzWBr0+bKy2iQOOe7/QD/XQp+evI7k9c4B7OWyDvi7Ol54uwKcWepf4hfTPJ0Dc/BxXiUHIziX+PB0bhd0Tb6gD6iTyhBh+gInaAzNEEEMfQH/UX3wWbwORgHX9bSoNfWvEedCL49ApZXxsU=</latexit>

<latexit sha1_base64="VRwC6aRCcdZ1KysW0w4J96DKlBI=">AAACiXicbVHLTtwwFPWkpdAALbTLbqLOILEaxQhUxApEF91UpRIDSJOAHOdmsCZ2LNsZZmr5P7pt/6p/Uydk0UCvZPno3Pc9mSyZNnH8ZxC8eLn2an3jdbi5tf3m7c7uuytd1YrChFZlpW4yoqFkAiaGmRJupALCsxKus/l5479egNKsEpdmJSHlZCZYwSgxnrodjcJkAcYuXRSORnc7w3gctxY9B7gDQ9TZxd3uAJK8ojUHYWhJtJ7iWJrUEmUYLcGFSa1BEjonM5h6KAgHndp2bBfteSaPikr5J0zUsv9mWMK1XvHMR3Ji7vVTX0P+15frpmCvu22ilC50n63lTAHM+4PmCyZ1N+rycdb+IqY4Ti0TsjYgqIuiMBHwQCvOichtc083xalNQOhaQdPY2qT5siIaYud8tc/gz6XgqyfPSnlPMq9BGyJ/UGe/XWJnW8SdZX4RLwx+KsNzcHUwxkfj+PvB8PSwk2gDfUAf0T7C6BM6RV/QBZogihT6iX6h38FmgIPj4OQxNBh0Oe9Rz4Lzv2msyc8=</latexit>

La position du point O 0 du solide par rapport au repère fixe O-xyz


<latexit sha1_base64="omeD/7IpWHd4k8Dz1YZUg8Qlals=">AAACg3icbVFNT9wwEPWmUGj6BeXYS8Ru1UqVVskWRC+VQO2BCwIkFlbaRMhxJou1tmPZzrZg+U9wbf9Y/02d3RwIdCTLT2/ezDx7csmoNnH8txc8W1t/vrH5Inz56vWbt1vb7y51VSsCY1KxSk1yrIFRAWNDDYOJVIB5zuAqn39v8lcLUJpW4sLcSsg4nglaUoKNpyaDQXj6MRwMrrf68TBeRvQUJC3oozbOrrd7kBYVqTkIQxjWeprE0mQWK0MJAxemtQaJyRzPYOqhwBx0ZpeGXfTBM0VUVsofYaIl+7DCYq71Lc+9kmNzox/nGvK/uUI3DTvTbaNSutRdtpYzBTDvGi0WVOrW6q+V1+5DTPk1s1TI2oAgLorCVMBPUnGORWHTBRg3TTKbgtC1gmawtWlz5WXUT5zz3X6A/y4FJ548YvIG52BWEnlHnD29SJxdIu4s9Q/xi0ker+EpuBwNk/1hfD7qH35pV7SJ3qNd9Akl6AAdomN0hsaIIIbu0W/0J1gPPgejYG8lDXptzQ7qRPDtH6Vhxs0=</latexit>

<latexit sha1_base64="KO9EqoWrPOZ0jD5sViBhEI4rWIg=">AAACpHicbVHLbtQwFPWEVwmPTsuSTcQMjw2jpAjRZREsWIAootNWmoSR49xMrbEdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTS0a1ieM/g+DGzVu37+zcDe/df/Bwd7i3f6qrWhGYkopV6jzHGhgVMDXUMDiXCjDPGZzly3dN/mwFStNKnJiNhIzjhaAlJdh4aj58Ph6HqYG1aVvZnGGydPZzS9mXbh1toksXjsfz4SiexG1E10HSgRHq4ni+N4C0qEjNQRjCsNazJJYms1gZShi4MK01SD8NL2DmocAcdGbbNVz01DNFVFbKH2Gilv23wmKu9YbnXsmxudBXcw3531yhm4a96bZRKV3qPlvLhQJY9hctVlTqbtX1dtf+Q0x5mFkqZG1AEBdFYSrgO6k4x6Kw6QqMmyWZTUHoWkEz2Nq0ufIyGiXO+W7vwX+Xgk+efMvkBc7BbCXyknhnThJnW8Sdpf4h3pjkqg3XwenBJHk9ib8cjI5edRbtoMfoCXqBEvQGHaEP6BhNEUE/0E/0C/0OngUfg6/BdCsNBl3NI9SL4Ntf9NDVKw==</latexit>

s’exprime par l’équation:

o0 = o0x x + o0y y + o0z z


<latexit sha1_base64="zZog2J0NBjxXnGCxrHNW+RNHGo8=">AAACv3icbVFbb9MwFHbDbYTLuvHIS0SLhkRVJZPQeEHagAdeEENat0lNVDnOaWc1dizb6Zpa/j/8Gl6Bf4OTZhLZOJLl73znfk4qcqp0GP7peffuP3j4aOex/+Tps+e7/b39c1WUksCEFHkhL1OsIKccJprqHC6FBMzSHC7S5afafrECqWjBz3QlIGF4wemcEqwdNet/HA79eAXaFPYgiEcf4lFQzNYH8agh1zZ46/TqRq+2+uZG31h/OJz1B+E4bCS4C6IWDFArp7O9HsRZQUoGXJMcKzWNQqETg6WmJAfrx6UCgckSL2DqIMcMVGKaYW3w2jFZMC+ke1wHDftvhMFMqYqlzpNhfaVu22ryv7ZM1Qk71U3tJdVcddlSLCTAsttotqJCta2ut712B9Hz94mhXJQaOLFB4MccrknBGOaZqddpp1FiYuCqlFAXNiauv3QeDCJrXbbP4NYl4asjT3JxhVN3gsZFbIg1384iaxrErKFuEHeY6PYZ7oLzw3H0bhx+PxwcH7Un2kEv0Sv0BkXoCB2jL+gUTRBBP9BP9Av99k68hcc9sXX1em3MC9QRr/oLD1Hdog==</latexit>

où x, y, z sont les vecteurs unitaires (leurs norme est 1)


<latexit sha1_base64="oaTFcLWzthf55cXQviUXQHZc+t0=">AAACnnicbVFdT9swFHUztrHsq4zHvQTaSXtAVcI0bY9MoIkXBJMoVGqiynFuitXYsWyno1h+5tfwyn4L/2ZOiKYFuJLlo3PP/U5FQZUOw7ue92zt+YuX66/812/evnvf3/hwpspKEhiTsijlJMUKCsphrKkuYCIkYJYWcJ4u9mv/+RKkoiU/1SsBCcNzTnNKsHbUrL81HPrxErS5tDvxToNW/9CV9YfDWX8QjsLGgscgasEAtXYy2+hBnJWkYsA1KbBS0ygUOjFYakoKsH5cKRCYLPAcpg5yzEAlppnFBp8ckwV5Kd3jOmjY/yMMZkqtWOqUDOsL9dBXk0/6MlUn7FQ3tUqqXHXZSswlwKLbaLakQrWtXt732h1E598TQ7moNHBig8CPOfwmJWOYZ6Zep51GiYmBq0pCXdiYuP7SPBhE1rpsB+DWJeHIkT8KcYFTd4JGIq6INcenkTUNYtZQN4g7TPTwDI/B2e4o+joKf+0O9r60J1pHH9E2+owi9A3toUN0gsaIoGt0g27RHy/wfnpH3vG91Ou1MZuoY97kLxJD0j4=</latexit>

des axes du repère O-xyz et o0x , o0y , o0z sont les composantes
<latexit sha1_base64="8CPM8+cV1NKbsJpgfHWBSrnfujU=">AAAClXicbVFba9RAFJ6Ntxov3eqDgi/BXakPZUmKoi9CxSK+SCt028ImhMnkZDts5sLMZO12GH+Nr/p//DdOdvNgWg8M5+M737nNKWRNtYnjP4Pg1u07d+9t3Q8fPHz0eHu48+RUi0YRmBJRC3VeYA015TA11NRwLhVgVtRwViw+tfGzJShNBT8xKwkZw3NOK0qw8VQ+fD4ehyK/3N1L90S+2rir3XA8zoejeBKvLboJkg6MUGfH+c4A0lKQhgE3pMZaz5JYmsxiZSipwYVpo0FissBzmHnIMQOd2fUKLnrlmTKqhPKPm2jN/pthMdN6xQqvZNhc6OuxlvxvrNRtwV5326qUrnSfbeRcASz6g5ZLKnU36uVm1v4ipnqfWcplY4ATF0VhyuE7EYxhXtp0CcbNksymwHWjoG1sbdq6oopGiXO+2iH471Lw1ZMfa3mBCzAbibwizh6dJM6uEXOW+kX8YZLrZ7gJTvcnydtJ/G1/dPCmO9EWeoFeotcoQe/QAfqCjtEUEfQD/US/0O/gWfAhOAw+b6TBoMt5inoWHP0FxiXM2w==</latexit>

<latexit sha1_base64="KO9EqoWrPOZ0jD5sViBhEI4rWIg=">AAACpHicbVHLbtQwFPWEVwmPTsuSTcQMjw2jpAjRZREsWIAootNWmoSR49xMrbEdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTS0a1ieM/g+DGzVu37+zcDe/df/Bwd7i3f6qrWhGYkopV6jzHGhgVMDXUMDiXCjDPGZzly3dN/mwFStNKnJiNhIzjhaAlJdh4aj58Ph6HqYG1aVvZnGGydPZzS9mXbh1toksXjsfz4SiexG1E10HSgRHq4ni+N4C0qEjNQRjCsNazJJYms1gZShi4MK01SD8NL2DmocAcdGbbNVz01DNFVFbKH2Gilv23wmKu9YbnXsmxudBXcw3531yhm4a96bZRKV3qPlvLhQJY9hctVlTqbtX1dtf+Q0x5mFkqZG1AEBdFYSrgO6k4x6Kw6QqMmyWZTUHoWkEz2Nq0ufIyGiXO+W7vwX+Xgk+efMvkBc7BbCXyknhnThJnW8Sdpf4h3pjkqg3XwenBJHk9ib8cjI5edRbtoMfoCXqBEvQGHaEP6BhNEUE/0E/0C/0OngUfg6/BdCsNBl3NI9SL4Ntf9NDVKw==</latexit>

du vecteur o0 2 R3 le long de chacun des trois axes


<latexit sha1_base64="J6qPSkA/riia/oM9QTGtq5VpYSU=">AAACnHicbVFNb9QwEPWGrxK+tnBEAotdBKdV0qoqx1b0gIQqCupuK23CynEmW2tjx7KdpcXykV/DFX4M/wYnmwNpGcnS05vnmTczmSyZNlH0ZxDcun3n7r2t++GDh48ePxluP53pqlYUprQqK3WeEQ0lEzA1zJRwLhUQnpVwlq3eN/mzNSjNKnFqriSknCwFKxglxlOL4cvxOEzWYGzl3uCECZxwYi6yzH5xX3fD8XgxHEWTqA18E8QdGKEuThbbA0jyitYchKEl0XoeR9KklijDaAkuTGoNktAVWcLcQ0E46NS2kzj82jM5LirlnzC4Zf/9YQnX+opnXtn41NdzDfnfXK6bgr3utlEpXeg+W8ulAlj1jeZrJnVn9XLjtT+IKd6llglZGxDUYRwmAr7RinMictss2M3j1CYgdK2gaWztZtMFHsXO+WpH4Nel4NiTh6W8IJk/SiuR36mzn05jZ1vEnWV+EH+Y+PoZboLZziTem0Sfd0YHu92JttBz9Aq9RTHaRwfoAzpBU0TRD/QT/UK/gxfBUfAxON5Ig0H35xnqRTD7C7Dc0L8=</latexit>

7
• Afin de décrire l'orientation du solide, considérons un repère attaché au corps
et exprimons ses vecteurs unitaires par rapport au repère O-xyz
<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

• Soit O -x y z un tel repère avec origine O et soient x0 , y0 , z0 les vecteurs 0 0 0 0 0


<latexit sha1_base64="cTxhqY2i6eBqTjhs8hTfv1dPSR4=">AAACoXicbVHLbtQwFPWER0t4dApLNhEJKotqlIyE6LIIFrBADKjTVppEI8e5mVoTO5btDJ1a/gG+hi38CX+Dk0aCtFzJ8tG5575zUVGl4/j3yLtz9979nd0H/sNHj5/sjfefnqq6kQTmpK5qeZ5jBRXlMNdUV3AuJGCWV3CWr9+1/rMNSEVrfqK3AjKGV5yWlGDtqOU4iiI/3YA2l/bgMD3s4PYvvLIHfhQtx2E8iTsLboOkByHqbbbcH0Fa1KRhwDWpsFKLJBY6M1hqSiqwftooEJis8QoWDnLMQGWmG8cGLx1TBGUt3eM66Nh/IwxmSm1Z7pQM6wt109eS//UVqk04qG5alVSlGrKNWEmA9bDRYkOF6lu9vO51OIgujzJDuWg0cGKDwE85fCM1Y5gXpt2nXSSZSYGrRkJb2Ji0/fIyCBNrXbb34NYl4ZMj31biAufuBp1EXBFrPp8k1nSIWUPdIO4wyc0z3Aan00nyehJ/mYbH0/5Eu+g5eoFeoQS9QcfoA5qhOSLoO/qBfqJfXuh99Gbe12upN+pjnqGBeYs/lKbS0A==</latexit>

<latexit sha1_base64="T4bQe2phFGLgUHxGCNlhTCDvE/U=">AAACqHicbVHdbtMwGHXD3wh/HVxyE9GiIhBVMmnaLofYBTeIIq3rUBNVjvOlsxo7lu107Sw/BE+zW3gM3gYnzQXZ+CTLR+c73499UlFQpcPwT8+7d//Bw0d7j/0nT589f9Hff3muykoSmJKyKOVFihUUlMNUU13AhZCAWVrALF19rvOzNUhFS36mtwIShpec5pRg7ahF/8Nw6McaNrppZdICk5U130YNZz7azSjYjoLrkfWHw0V/EI7DJoK7IGrBALUxWez3IM5KUjHgmhRYqXkUCp0YLDUlBVg/rhQINxEvYe4gxwxUYppVbPDWMVmQl9IdroOG/bfCYKbUlqVOybC+VLdzNfnfXKbqhp3pplZJlasuW4mlBFh1F83WVKh21c1u1+5DdH6cGMpFpYETGwR+zOGKlIxhnpl4DdrOo8TEwFUloR5sTFxfaR4MImtdt1Nw3yXhqyM/FeISp6B3EnFNnDtnkTUNYtZQ9xBnTHTbhrvg/GAcHY7D7weDk7C1aA+9Rm/QOxShI3SCvqAJmiKCfqIb9Av99t57E2/m/dhJvV5b8wp1wkv/AgbX1ew=</latexit>

<latexit sha1_base64="E5gcOTiShZsYrvNQdlpf7k0wcy8=">AAAChHicbVFNT9wwEPWGlo/0AyhHLhG7iB6qVbIIwakCwYFLBUgsUG0i5DiTxdrYsWxnW7D8K7jCD+Pf4Ozm0EBHsvz05s3MsycVBVU6DF863sKHj4tLyyv+p89fvq6urX+7UmUlCQxJWZTyJsUKCsphqKku4EZIwCwt4DqdHNf56ylIRUt+qe8FJAyPOc0pwdpRv3s9/2wn8Hu927Vu2A9nEbwHUQO6qInz2/UOxFlJKgZckwIrNYpCoRODpaakAOvHlQKByQSPYeQgxwxUYmaObbDtmCzIS+kO18GM/bfCYKbUPUudkmF9p97mavK/uUzVDVvTTa2SKldtthJjCTBpG82mVKjG6t+51/ZDdH6QGMpFpYETGwR+zOEPKRnDPDPxFLQdRYmJgatKQj3YmLi+0jzoRta6bifgvkvCL0ceFeIOp6DnEvFArDm7jKyZIWYNdQ9xi4neruE9uBr0o71+eDHoHg6aFS2jTbSFvqMI7aNDdIrO0RARxNAjekLP3qL3w9v19uZSr9PUbKBWeD9fAQ7RxvY=</latexit>

unitaires des axes

• Ces vecteurs sont exprimés par rapport au repère O-xyz par les équations:
<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

x0 = x0x x + x0y y + x0z z


<latexit sha1_base64="B/A0J6FgRW1eymIUYkTmt0jIUZo=">AAADkXicjZFba9swFIDlepfOu7XL417MktHBSrADZdvDILs8DMZYB01biEKQlZNUxJKNJGexhf7LXrd/tH8zOfFG0uZhAuPDp6NPR+ckecqUjqLf3p5/6/adu/v3gvsPHj56fHD45FxlhaQwoFmaycuEKEiZgIFmOoXLXALhSQoXyfxDvX+xAKlYJs50mcOIk5lgU0aJdmh86LU6nQAnMGPCEClJaU1qA7wAbZb2KMTHb/FxuDwaL/FxAx17uWZlw8oNVjWssnihckLBRN1ej3KLcdAk/7WWO6zlDmv5H9bqn7XaYa12WKtNa4BBTJr3B53O+KAddaPVCm8GcRO0UbNOXRsBTzJacBCapkSpYRzleuSMmtEUnL9Q4OqekxkMXSgIBzUyq/HZ8Lkjk3CaSfcJHa7o5glDuFIlT1wmJ/pKXd+r4c69iaqFW7ebOkuqqdqmRT6TAPPtQicLlqum1OW61u2H6OnrkWEiLzQIasMwwAK+04xz4rpZt9YO45FxvVWFhPpiY3D9S6ZhO7bW2T6Ca5eELw6+S/MrkrhxrFLyilrz9Sy2ZhVxa5h7iBtMfH0MN4PzXjc+6Ubfeu3+STOiffQUPUMvUIxeoT76hE7RAFGv8n54P71ffst/4/f99+vUPa8500Jby//8B+6XJFc=</latexit>

y0 = yx0 x + yy0 y + yz0 z


z0 = zx0 x + zy0 y + zz0 z
• Sous forme compacte, les vecteurs unitaires x0 , y0 , z0 qui décrivent l'orientation
<latexit sha1_base64="cTxhqY2i6eBqTjhs8hTfv1dPSR4=">AAACoXicbVHLbtQwFPWER0t4dApLNhEJKotqlIyE6LIIFrBADKjTVppEI8e5mVoTO5btDJ1a/gG+hi38CX+Dk0aCtFzJ8tG5575zUVGl4/j3yLtz9979nd0H/sNHj5/sjfefnqq6kQTmpK5qeZ5jBRXlMNdUV3AuJGCWV3CWr9+1/rMNSEVrfqK3AjKGV5yWlGDtqOU4iiI/3YA2l/bgMD3s4PYvvLIHfhQtx2E8iTsLboOkByHqbbbcH0Fa1KRhwDWpsFKLJBY6M1hqSiqwftooEJis8QoWDnLMQGWmG8cGLx1TBGUt3eM66Nh/IwxmSm1Z7pQM6wt109eS//UVqk04qG5alVSlGrKNWEmA9bDRYkOF6lu9vO51OIgujzJDuWg0cGKDwE85fCM1Y5gXpt2nXSSZSYGrRkJb2Ji0/fIyCBNrXbb34NYl4ZMj31biAufuBp1EXBFrPp8k1nSIWUPdIO4wyc0z3Aan00nyehJ/mYbH0/5Eu+g5eoFeoQS9QcfoA5qhOSLoO/qBfqJfXuh99Gbe12upN+pjnqGBeYs/lKbS0A==</latexit>

du solide par rapport à O-xyz , peuvent être combinés dans la matrice 3 ✕ 3:


<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

2 3 2 3
x0x yx0 zx0 0T 0T 0T
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x x y x z x
⇥ 0 0 0
⇤ 6 7 6 7
R = x y z = 4 x0y yy0 zy0 5 = 4 x0T y y0T y z0T y 5
x0z yz0 zz0 x0T z y0T z z0T z
qui est appelée matrice de rotation. On dit que x0x est le cosinus directeur
<latexit sha1_base64="BE8z631uBCUqYYNbhnQ8A6b6L/I=">AAAChXicbVFNT9wwEPWGtgvpFwvHXqLuVu2lqwRR4AaIHnqpSiUWUDfRynEmi7WxY9nOsmD5X3CF/8W/qbObQwMdyfLTmzczz55UFFTpMHzseGsvXr7qrm/4r9+8ffd+s7d1rspKEhiRsijlZYoVFJTDSFNdwKWQgFlawEU6O6nzF3OQipb8TN8ISBiecppTgrWj/gwG/uLzZOEPBpPNfjgMlxE8B1ED+qiJ00mvA3FWkooB16TASo2jUOjEYKkpKcD6caVAYDLDUxg7yDEDlZilZRt8ckwW5KV0h+tgyf5bYTBT6oalTsmwvlJPczX531ym6oat6aZWSZWrNluJqQSYtY1mcypUY3Wx8tp+iM4PEkO5qDRwYoPAjzlck5IxzDMTz0HbcZSYGLiqJNSDjYnrK82DfmSt6/Yd3HdJ+OnI40Jc4RT0SiJuiTW/ziJrlohZQ91D3GKip2t4Ds53htG3Yfh7p3+026xoHX1AH9EXFKF9dIR+oFM0QgRxdIfu0YPX9b56u97eSup1mppt1Arv8C8OU8fi</latexit>

0
<latexit sha1_base64="OUKYnH7yLbRoo4vsjV9+9Yjo60w=">AAACiXicbVHLTtwwFPUE2tLQB7RLNhEzqF2NYkRVxIqKLtiggsQA0iRFjnMzWBM7lu0MD8v/0W35q/5NnZAFAa5k+ejc9z2ZLJk2cfxvECwtv3r9ZuVtuPru/YePa+ufznRVKwoTWpWVusiIhpIJmBhmSriQCgjPSjjP5geN/3wBSrNKnJpbCSknM8EKRonx1O/RKEwWYOyN+xKORpdrw3gctxY9B7gDQ9TZ8eX6AJK8ojUHYWhJtJ7iWJrUEmUYLcGFSa1BEjonM5h6KAgHndp2bBdteSaPikr5J0zUso8zLOFa3/LMR3JirvRTX0O+6Mt1U7DX3TZRShe6z9ZypgDm/UHzBZO6G/XmYdb+IqbYTS0TsjYgqIuiMBFwTSvOichtc083xalNQOhaQdPY2qT5siIaYud8tZ/gz6XgyJM/SnlFMq9BGyLvqLO/TrGzLeLOMr+IFwY/leE5ONse42/j+GR7uL/TSbSCNtAm+oow+o720SE6RhNEkUJ/0F90H6wGONgN9h5Cg0GX8xn1LDj4D3hpydY=</latexit>

reliant x à x (et de même pour les autres 8 éléments de R)


<latexit sha1_base64="dPuKGq4qOhwTmV+2MZtAvSAXFAg=">AAACiHicbVHLTtwwFPWE8mgo72U3ETNIXY2SkRBlx6MLNhUUMYA0iZDj3AzWxI5rO8PD8nd0235W/wYnZNFAr2T56Nz3PakoqNJh+LfnLXxYXFpe+eivflpb39jc2r5WZSUJjElZlPI2xQoKymGsqS7gVkjALC3gJp2d1v6bOUhFS36lnwQkDE85zSnB2lHJYODHc9Dm0vqDwd1mPxyGjQXvQdSCPmrt4m6rB3FWkooB16TASk2iUOjEYKkpKcD6caVAYDLDU5g4yDEDlZhmahvsOSYL8lK6x3XQsP9mGMyUemKpi2RY36u3vpr8ry9TdcFOd1NHSZWrLluJqQSYdQfN5lSodtTH11m7i+j8a2IoF5UGTmwQ+DGHB1Iyhnlm6nPaSZSYGLiqJNSNjYnrL82DfmStq/YN3LkkfHfkcSHuceokaELEM7Hm/CqypkHMGuoWccJEb2V4D65Hw2h/GP4Y9Y9GrUQr6DPaRV9QhA7QETpDF2iMCPqJfqHf6I/ne6F34B2+hnq9NmcHdcw7eQGsfsl9</latexit>

<latexit sha1_base64="DLev+DfO8aUyvitTVzvkqoggw0c=">AAACiHicbVHLTtwwFPWE8mh4l2U3ETNIrEYJAlF2tLBgUxUkBpAmEXKcm8Ga2HFtZwpY/g628Fn8TZ2QRQO9kuWjc9/3pKKgSofha8+b+zS/sLj02V9eWV1b39j8cqXKShIYkbIo5U2KFRSUw0hTXcCNkIBZWsB1Oj2p/dczkIqW/FI/CEgYnnCaU4K1o5LBwI9noM299QeD241+OAwbCz6CqAV91Nr57WYP4qwkFQOuSYGVGkeh0InBUlNSgPXjSoHAZIonMHaQYwYqMc3UNthxTBbkpXSP66Bh/80wmCn1wFIXybC+U+99NflfX6bqgp3upo6SKlddthITCTDtDprNqFDtqPdvs3YX0fm3xFAuKg2c2CDwYw5/SMkY5pmpz2nHUWJi4KqSUDc2Jq6/NA/6kbWu2im4c0n46cjvhbjDqZOgCRGPxJpfl5E1DWLWULeIEyZ6L8NHcLU3jA6G4cVe/3i/lWgJfUXbaBdF6BAdozN0jkaIoN/oCT2jF8/3Qu/QO3oL9XptzhbqmPfjL/1AyaU=</latexit>

8
Propriétés des matrices de rotation
• Les colonnes d’une matrice de rotation sont orthogonales à deux à deux,

x0T y0 = 0, y0T z0 = 0, z0T x0 = 0


<latexit sha1_base64="/O4Xq0tJzbkWE6OhMFTDVxf2fc8=">AAAC5HicbVFNb9MwGHbD1wgf6+DIJaJF41BVyRCCC9IQHLgghtRuk5pSOc6bzmrsGNsp7Sz/A26IK/+IH8Dv4AoSTpYN0vFKlh897/N+JyKnSofhj4535eq16ze2bvq3bt+5u93duXeoilISGJMiL+RxghXklMNYU53DsZCAWZLDUbJ4VfmPliAVLfhIrwVMGZ5zmlGCtaNm3Xm/78dL0GZldz+Yka3x2u4G8eBFPAjCQfyxxGlwTl9ITjcl5+yFYvVX4ff7s24vHIa1BZdB1IAeauxgttOBOC1IyYBrkmOlJlEo9NRgqSnJwfpxqUBgssBzmDjIMQM1NfVGbPDIMWmQFdI9roOa/TfCYKbUmiVOybA+UZu+ivyvL1VVwlZ1U6mkylSbLcVcAizajaZLKlTT6uqs1/YgOns+NZSLUgMnNgj8mMMnUjCGeWqqvdpJNDUxcFVKqAobE1dfkgW9yFqX7TW4dUl468iXuTjBibtFLRGnxJp3o8iaGjFrqBvEHSbaPMNlcLg3jJ4Ow/d7vf0nzYm20AP0ED1GEXqG9tEbdIDGiKDv6Cf6hX57mffZ++J9PZN6nSbmPmqZ9+0PSEzsiw==</latexit>

est leur norme est égale à 1:

x0T x0 = 1, y0T y0 = 1, z0T z0 = 1


<latexit sha1_base64="bqigN05o8j+ZO9sOrAsvO0mMaXg=">AAAC5HicbVHLjtMwFHXDawivDizZWLQIFlWVDELDBmkQLNggBqmdGakplePcdKLGjsd2yrSW/4AdYssf8QF8B1uQcDJBNB2uZPno3HPfscgzpYPgR8e7cvXa9Rs7N/1bt+/cvdfdvX+kilJSGNMiL+RJTBTkGYexznQOJ0ICYXEOx/HideU/XoJUWcFHeiVgysicZ2lGiXbUrDvv9/1oCdqc2ycfzcj+xTgavIwGOBxEZyVJcE2vNiSrbUnNrjcU638Kv9+fdXvBMKgNXwZhA3qoscPZbgeipKAlA65pTpSahIHQU0OkzmgO1o9KBYLQBZnDxEFOGKipqTdi8WPHJDgtpHtc45rdjDCEKbVisVMyok/Vtq8i/+tLVJWwVd1UKqlS1WZLMZcAi3ajyTITqmn1/KLX9iA6fTE1GRelBk4txn7E4RMtGCM8MdVe7SScmgi4KiVUhY2Jqi9OcS+01mV7A25dEt458lUuTknsblFLxJpa834UWlMjZk3mBnGHCbfPcBkc7Q3D58Pgw17v4Flzoh30ED1CT1GI9tEBeosO0RhR9B39RL/Qby/1PntfvK8XUq/TxDxALfO+/QFOneyO</latexit>

Par conséquent, R est une matrice orthogonale, c’est-à-dire:


<latexit sha1_base64="dPuKGq4qOhwTmV+2MZtAvSAXFAg=">AAACiHicbVHLTtwwFPWE8mgo72U3ETNIXY2SkRBlx6MLNhUUMYA0iZDj3AzWxI5rO8PD8nd0235W/wYnZNFAr2T56Nz3PakoqNJh+LfnLXxYXFpe+eivflpb39jc2r5WZSUJjElZlPI2xQoKymGsqS7gVkjALC3gJp2d1v6bOUhFS36lnwQkDE85zSnB2lHJYODHc9Dm0vqDwd1mPxyGjQXvQdSCPmrt4m6rB3FWkooB16TASk2iUOjEYKkpKcD6caVAYDLDU5g4yDEDlZhmahvsOSYL8lK6x3XQsP9mGMyUemKpi2RY36u3vpr8ry9TdcFOd1NHSZWrLluJqQSYdQfN5lSodtTH11m7i+j8a2IoF5UGTmwQ+DGHB1Iyhnlm6nPaSZSYGLiqJNSNjYnrL82DfmStq/YN3LkkfHfkcSHuceokaELEM7Hm/CqypkHMGuoWccJEb2V4D65Hw2h/GP4Y9Y9GrUQr6DPaRV9QhA7QETpDF2iMCPqJfqHf6I/ne6F34B2+hnq9NmcHdcw7eQGsfsl9</latexit>

R T R = I3
<latexit sha1_base64="anDg7+JePiDb2qXSKHgtVY7FTvs=">AAACp3icbVHdbtMwFHbD3yg/68YlNxEtEqCqSoYmuJk0BBdwgTZQ21WqQ+U4J53V2LFspzAsvwNPwy28Bm+Dk+WCbBzJ8ufvfOf4/KSyYNpE0Z9ecOPmrdt3du72791/8HB3sLc/12WlKMxoWZRqkRINBRMwM8wUsJAKCE8LOEs3b2v/2RaUZqWYmgsJCSdrwXJGifHUavBiNOrjLRj72X2Z4nELQzw+wuOweX1wq5dh2B+NVoNhNIkaC6+DuAVD1Nrpaq8HOCtpxUEYWhCtl3EkTWKJMowW4Pq40iAJ3ZA1LD0UhINObNOUC596JgvzUvkjTNiw/0ZYwrW+4KlXcmLO9VVfTf7Xl+k6Yed3W6uUznWXreRaAWy6hWZbJnVb6rfLWruNmPx1YpmQlQFBnR8dFvCVlpwTkdl6pG4ZJxaD0JWC+mNrcX2leTiMnfPZ3oEfl4KPnnxTyHOS+jU0EvmdOnsyjZ1tEHeW+Ub8YuKra7gO5geT+HASfToYHh+2K9pBj9ET9AzF6BU6Ru/RKZohin6gn+gX+h08D06CebC4lAa9NuYR6lhA/gJdxNRN</latexit>

Si on multiplie à droite chaque côté de l’équation précédente par R 1


<latexit sha1_base64="DxyugDmOzqSjcEELG1JIOz+3n5M=">AAACkHicbVHLbtQwFPWEVwmvabtkEzGDxIZRPBKiu7aii6oSoqBOW2kSRo5zM7UmdizbmTJY/ha29JP4G5w0C9JyJctH577vyWTJtInjP4PgwcNHj59sPQ2fPX/x8tVwe+dcV7WiMKNVWanLjGgomYCZYaaES6mA8KyEi2z1qfFfrEFpVokzs5GQcrIUrGCUGE8thrvjcZiswdhv7rt9j10UjseL4SiexK1F9wHuwAh1drrYHkCSV7TmIAwtidZzHEuTWqIMoyW4MKk1SEJXZAlzDwXhoFPbTu+it57Jo6JS/gkTtey/GZZwrTc885GcmCt919eQ//XluinY626bKKUL3WdruVQAq/6g+ZpJ3Y3643bW/iKm2EstE7I2IKiLojARcE0rzonIbXNUN8epTUDoWkHT2Nqk+bIiGmHnfLUj8OdS8NmTh6W8IpkXog2RP6mzX86wsy3izjK/iBcG35XhPjifTvCHSfx1OjqYdhJtodfoDXqHMPqIDtAxOkUzRNEG/UK/0U2wE+wF+8HhbWgw6HJ2Uc+Ck78Kocu+</latexit>

on trouve que: <latexit sha1_base64="C2+MPmclkOcJ7WN5CG6aLQ64TPU=">AAACpHicbVHLbtQwFPWEVwmvaVmysZjhsWGUVKpgU6kIFixAFJhpK03SkePcTK2JHct2hhbLn8DXsIUP4W9wMkEiLVeyfHTuue9MlkybKPo9CK5dv3Hz1tbt8M7de/cfDLd3jnRVKwozWpWVOsmIhpIJmBlmSjiRCgjPSjjOVm8a//EalGaVmJoLCSknS8EKRonx1GL4bDwOk6w6h9wmazD2szud4n38F9sXsXM4HI8Xw1E0iVrDV0HcgRHq7HCxPYAkr2jNQRhaEq3ncSRNaokyjJbgwqTWIAldkSXMPRSEg05tO5HDTzyT46JS/gmDW/bfCEu41hc880pOzJm+7GvI//py3STsVbeNSulC99laLhXAqt9ovmZSd62eb3rtD2KKV6llQtYGBHUYh4mAr7TinIjNht08Tm0CQtcKmsLWJs2XFXjkV+2zvQW/LgUfPPm6lGck85doJfIbdfbjNHa2RdxZ5gfxh4kvn+EqONqdxHuT6NPu6GCvO9EWeoQeo+coRi/RAXqHDtEMUfQd/UA/0a/gafA++BLMNtJg0MU8RD0LTv8AlEfUEw==</latexit>

T 1
R =R
c’est-à-dire, la transposée d’une matrice de rotation est égale à son inverse.

• En plus de conserver les longueurs, les matrices de rotation doivent également


conserver l'orientation, donc il faut que det(R) = 1 (vrai, si le repère est direct)
<latexit sha1_base64="MHnLmsrmdfU9Uxu73HoJz5kg5Z4=">AAACmXicbVHLbtQwFPWER0t4TemyLCxmkIpUjZKRUNkgtaKLCglRoNNWmkQjx7mZWhM7lu0MFMsbvoYt/A1/g5NmQVquZPno3HPfmSyZNlH0ZxDcuXvv/sbmg/Dho8dPng63np3pqlYUZrQqK3WREQ0lEzAzzJRwIRUQnpVwnq3eNf7zNSjNKnFqriSknCwFKxglxlOL4fPxOExyMLvJGoz97F7hZO9tsodjHI7Hi+EomkSt4dsg7sAIdXay2BpAkle05iAMLYnW8ziSJrVEGUZLcGFSa5CErsgS5h4KwkGnth3D4ZeeyXFRKf+EwS37b4QlXOsrnnklJ+ZS3/Q15H99uW4S9qrbRqV0oftsLZcKYNVvNF8zqbtWv1332h/EFG9Sy4SsDQjqMA4TAV9pxTkRuW0W6+ZxahMQulbQFLY2ab6swKPYOZ/tCPy6FHzw5GEpL0nmj9FK5Hfq7MfT2NkWcWeZH8QfJr55htvgbDqJX0+iT9PRwbQ70SbaQS/QLorRPjpAx+gEzRBFP9BP9Av9DnaCw+A4eH8tDQZdzDbqWfDlL7BPzgw=</latexit>

Groupe spécial orthogonal


SO(3) , {R 2 R3⇥3 : RT R = I3 , det(R) = 1}
<latexit sha1_base64="4xGe2AzqAuUvXEHQmmi80KkURac=">AAADCnicbVHdbtMwFHbC3wh/HVwhbqy1SJ1UVckqBAIhDcEFXKANaLdJdVc5zmlnNXGC7ZQNy28AL8Md4paX4Dl4AZw0QnTjSJY+f+c7x+f4i4uUKx2Gvzz/0uUrV69tXA9u3Lx1+05r8+6BykvJYMTyNJdHMVWQcgEjzXUKR4UEmsUpHMaLl1X+cAlS8VwM9VkBk4zOBZ9xRrWjpq2vnU5ANJxq82HPdgfbmPSIlpyKeQofSQ8TQ5agzXuLCReYZFSfxLG7HpsBJppnoPDAkt5TV7bSHQ//QtfredWiur2x0wEOeuQZSUB3G8F2o4gCTCwOOp1pqx32wzrwRRA1oI2a2J9uekCSnJUZCM1SqtQ4Cgs9MVRqzlKwASkVFJQt6BzGDgrqJp6Y+t8sfuiYBM9y6Y7QuGb/rTA0U+osi52yWlydz1Xkf3OJqhquvW4qlVQztc6WxVwCLNYHTZa8UM2op6tZ1xfRsycTw0VRahDMYhwQAZ9YnmVUJLVhdhxNDAGhSgnVw8asrJvhdmSt6/YK3HdJeOvIF2lxQmNnSC0pPjNr9oaRNTXKrOFuEWdMdN6Gi+Bgpx896ofvdtq7g8aiDfQAbaEuitBjtIteo300Qgz99u57W17b/+J/87/7P1ZS32tq7qG18H/+AVbG9mI=</latexit>

de dimension 3
9
Rotations élémentaires
• Considérons les rotations qu’on peut obtenir à partir de rotations
élémentaires autour des axes x, y, z
<latexit sha1_base64="5pKHMDUj0B6xZMR9CXByihsCzt8=">AAACjXicbVFda9swFFXcdeu8dk3Xx76YJYM+lGAHyvYwSkYH68tYB01biE2Q5etUxJKFJKdJhf7JXrv/tH8zOfHD3O7CRYdzz/3STUVBlQ7DPx1v68X2y1c7r/03u3tv97sH765VWUkCY1IWpbxNsYKCchhrqgu4FRIwSwu4SefndfxmAVLRkl/plYCE4RmnOSVYO2ra7fb7/vIkPlk5fwj8fn/a7YWDcG3BcxA1oIcau5wedCDOSlIx4JoUWKlJFAqdGCw1JQVYP64UCEzmeAYTBzlmoBKzHt0GHxyTBXkpnXMdrNl/MwxmSq1Y6pQM6zv1NFaT/41lqi7Y6m5qlVS5arOVmEmAeXvQbEGFakZdbmZtL6LzT4mhXFQaOLFB4Mcc7knJGOaZiReg7SRKTAxcVRLqxsbE9ZPmQS+y1lX7Cu67JHx35JdC3OEU9EYiHog1P64ia9aIWUPdIu4w0dMzPAfXw0F0Ogh/DnujYXOiHXSE3qNjFKGPaIQu0CUaI4IW6Bd6RL+9fe/U++ydbaRep8k5RC3zvv0FqSzJyg==</latexit>

• Ces rotations sont positives si elles sont faites autour des axes relatifs,
dans le sens anti-horaire

Exemple: le repère O-xyz est pivoté d’un angle ↵ autour de l’axe z


<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit> <latexit sha1_base64="u4793Jg2NWB3wNmYB6Ir584swXI=">AAACg3icbVHBTtwwEPWmhUJo6VKOXKLuIlWqtEpWRfRSiYoeuFSlEgsrbSLkOJPFWtuxbGdbsPwTXMuP8Td1dnNooCNZfnrzZubZk0tGtYnjx17w4uXG5qut7XDn9Zvdt/29d5e6qhWBCalYpaY51sCogImhhsFUKsA8Z3CVL06b/NUSlKaVuDC3EjKO54KWlGDjqelwGN5F4XB43R/Eo3gV0XOQtGCA2ji/3utBWlSk5iAMYVjrWRJLk1msDCUMXJjWGiQmCzyHmYcCc9CZXRl20aFniqislD/CRCv23wqLuda3PPdKjs2NfppryP/mCt007Ey3jUrpUnfZWs4VwKJrtFhSqVurv9deuw8x5efMUiFrA4K4KApTAb9IxTkWhU2XYNwsyWwKQtcKmsHWps2Vl9Egcc53+wb+uxR89+RXJm9wDmYtkXfE2R8XibMrxJ2l/iF+McnTNTwHl+NRcjSKf44HJ+N2RVvoAL1HH1CCjtEJOkPnaIIIYuge/UEPwUbwMRgHn9bSoNfW7KNOBF/+AvELxvA=</latexit>

et O-x0 y 0 z 0 est le repère résultant


<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

z0
<latexit sha1_base64="2Z/EaN0zEivnPGS7CoZmrh4otqo=">AAACiXicbVHLTtwwFPWEPmhoy2vZTdQZ1K5GMQIVsaKCRTdVQWIAaZIix7kZrIkdy3aGguX/YEv/qn9TJ2RBgCtZPjr3fU8mS6ZNHP8bBEuvXr95u/wuXHn/4ePq2vrGma5qRWFCq7JSFxnRUDIBE8NMCRdSAeFZCefZ/LDxny9AaVaJU3MjIeVkJljBKDGe+j0ahckCjL11X8LR6HJtGI/j1qLnAHdgiDo7vlwfQJJXtOYgDC2J1lMcS5NaogyjJbgwqTVIQudkBlMPBeGgU9uO7aItz+RRUSn/hIla9nGGJVzrG575SE7MlX7qa8gXfbluCva62yZK6UL32VrOFMC8P2i+YFJ3o/55mLW/iCn2UsuErA0I6qIoTARc04pzInLb3NNNcWoTELpW0DS2Nmm+rIiG2Dlf7Qj8uRT89OT3Ul6RzGvQhshb6uyvU+xsi7izzC/ihcFPZXgOzrbHeHccn2wPD3Y6iZbRJ/QZfUUYfUMH6Ac6RhNEkUJ36B79DVYCHOwF+w+hwaDL2UQ9Cw7/A3yjydg=</latexit>

<latexit sha1_base64="dLM3a6Birapq7lsuwC788MdyUL4=">AAACiHicbVHLTtwwFPWE8koL5bFkEzFTqatRgqgoOwosukGAxADSJEKOczNYEzuu7UwBy9/BFj6rf4MTsiDQK1k+Ovd9TyoKqnQY/ut5c5/mFxaXlv3PX1ZWv66tb1yqspIERqQsSnmdYgUF5TDSVBdwLSRglhZwlU6Pav/VDKSiJb/Q9wIShiec5pRg7ahkMPDjGWjzYP3B4GatHw7DxoKPIGpBH7V2drPegzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OSYL8lK6x3XQsG8zDGZK3bPURTKsb9V7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rd66zdRXT+MzGUi0oDJzYI/JjDX1Iyhnlm6nPacZSYGLiqJNSNjYnrL82DfmStq3YM7lwSThz5qxC3OHUSNCHigVhzehFZ0yBmDXWLOGGi9zJ8BJc7w+jHMDzf6R/sthItoS20jb6jCO2hA/QbnaERIugPekRP6NnzvdDb8/ZfQ71em7OJOuYdvgABh8mn</latexit>

z
y0
<latexit sha1_base64="f++ptg6D+vDG5Y9/7oka5ayPQMQ=">AAACjHicbVFdb9MwFHUDg5LB1sEjLxHtxJ6qpOrEpGlSEQjxghjSuk1qospxbjqrsWPZTkex/Et4hR/Fv8HJ8kA2rmT56Nzve1JRUKXD8E/Pe/R458nT/jN/9/mLvf3BwctLVVaSwJyURSmvU6ygoBzmmuoCroUEzNICrtL1h9p/tQGpaMkv9FZAwvCK05wSrB21HOyPRn68AW229m3gj0bLwTAch40FD0HUgiFq7Xx50IM4K0nFgGtSYKUWUSh0YrDUlBRg/bhSIDBZ4xUsHOSYgUpMM7kNDh2TBXkp3eM6aNh/MwxmSm1Z6iIZ1jfqvq8m/+vLVF2w093UUVLlqstWYiUB1t1Bsw0Vqh31+92s3UV0fpIYykWlgRMbBH7M4ZaUjGGemfqgdhElJgauKgl1Y2Pi+kvzYBhZ66p9BHcuCV8c+b4QNzh1IjQh4gex5utFZE2DmDXULeKEie7L8BBcTsbR8Tj8NhnOpq1EffQavUFHKELv0Ax9Rudojgiq0E/0C/329rypd+qd3YV6vTbnFeqY9+kvcL3KMg==</latexit>


<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

<latexit sha1_base64="VRwC6aRCcdZ1KysW0w4J96DKlBI=">AAACiXicbVHLTtwwFPWkpdAALbTLbqLOILEaxQhUxApEF91UpRIDSJOAHOdmsCZ2LNsZZmr5P7pt/6p/Uydk0UCvZPno3Pc9mSyZNnH8ZxC8eLn2an3jdbi5tf3m7c7uuytd1YrChFZlpW4yoqFkAiaGmRJupALCsxKus/l5479egNKsEpdmJSHlZCZYwSgxnrodjcJkAcYuXRSORnc7w3gctxY9B7gDQ9TZxd3uAJK8ojUHYWhJtJ7iWJrUEmUYLcGFSa1BEjonM5h6KAgHndp2bBfteSaPikr5J0zUsv9mWMK1XvHMR3Ji7vVTX0P+15frpmCvu22ilC50n63lTAHM+4PmCyZ1N+rycdb+IqY4Ti0TsjYgqIuiMBHwQCvOichtc083xalNQOhaQdPY2qT5siIaYud8tc/gz6XgqyfPSnlPMq9BGyJ/UGe/XWJnW8SdZX4RLwx+KsNzcHUwxkfj+PvB8PSwk2gDfUAf0T7C6BM6RV/QBZogihT6iX6h38FmgIPj4OQxNBh0Oe9Rz4Lzv2msyc8=</latexit>

x y
<latexit sha1_base64="6dframh+W+dy/cr1q3oU7c1uL04=">AAACiHicbVHLTtwwFPWEQmnKm2U3ETOVWI0S1Iqyo8CiGwRIDCBNIuQ4N4M1sWNsZ+hg+TvYtp/Vv8EJWRDolSwfnfu+JxUFVToM//W8hQ+LSx+XP/mfV1bX1jc2t65UWUkCI1IWpbxJsYKCchhpqgu4ERIwSwu4TqfHtf96BlLRkl/quYCE4QmnOSVYOyoZDPx4BtrMrT8Y3G70w2HYWPAeRC3oo9bObzd7EGclqRhwTQqs1DgKhU4MlpqSAqwfVwoEJlM8gbGDHDNQiWmmtsFXx2RBXkr3uA4a9nWGwUypOUtdJMP6Tr311eR/fZmqC3a6mzpKqlx12UpMJMC0O2g2o0K1o/5+mbW7iM5/JIZyUWngxAaBH3N4ICVjmGemPqcdR4mJgatKQt3YmLj+0jzoR9a6aifgziXh1JE/C3GHUydBEyIeiTVnl5E1DWLWULeIEyZ6K8N7cLU3jL4Pw4u9/uG3VqJl9AXtoF0UoX10iH6hczRCBN2jJ/QH/fV8L/T2vYOXUK/X5myjjnlHz/9cyaY=</latexit>

x0
<latexit sha1_base64="QbFleFBXJ9R5P0cPLx6m/1EOwR8=">AAACjHicbVFdS9xAFJ1NP9TU6qqPfQndLfZpScRSQQRLpfSlVMFVYROWyeRmHTYzGWYmq3aYX+Kr/ij/jZOYh0a9MMzh3O97UlFQpcPwoee9efvu/dLyiv9h9ePaen9j80yVlSQwJmVRyosUKygoh7GmuoALIQGztIDzdP6z9p8vQCpa8lN9IyBheMZpTgnWjpr214dDP16ANtd2O/CHw2l/EI7CxoKXIGrBALV2PN3oQZyVpGLANSmwUpMoFDoxWGpKCrB+XCkQmMzxDCYOcsxAJaaZ3AZfHJMFeSnd4zpo2P8zDGZK3bDURTKsL9VzX02+6stUXbDT3dRRUuWqy1ZiJgHm3UGzBRWqHfX6adbuIjrfSwzlotLAiQ0CP+ZwRUrGMM9MfVA7iRITA1eVhLqxMXH9pXkwiKx11Y7AnUvCH0f+KMQlTp0ITYj4R6z5expZ0yBmDXWLOGGi5zK8BGc7o+jbKDzZGRzuthIto0/oM/qKIvQdHaLf6BiNEUEVukV36N5b83a9fe/gKdTrtTlbqGPer0dun8ox</latexit>


<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

10
Rotations élémentaires
• Les vecteurs unitaires de O-x0 y 0 z 0 peuvent être
<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

exprimés par rapport au repère O-xyz comme:


<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

<latexit sha1_base64="rPJwhpSfVfk93no/gq1NwWpiADM=">AAAD13icjVLLbtQwFHUaHiU82sKSTcoMggWMkpEQbJCKYMEGUaQ+NY4qx7mZsSZ2gu0MnVoWO8SWP+I3+AG28Ak4aRZMp7RcKcrVudfnXN/jtCqY0lH0w1vxr1y9dn31RnDz1u07a+sbd/dUWUsKu7QsSnmQEgUFE7CrmS7goJJAeFrAfjp93dT3ZyAVK8WOnleQcDIWLGeUaAcdbXiH/X6AZ6DNsX0UvgxxAbke4c0ApzBmwhApydwaagNMS4VJUU0InqmKUDDRIKbcYhxgxcQ/SlGAQWQdTYA3sWTjiU6e4I81ycJWeH6J8NML6C8Y6j+UTy5RjpZJl5D4fJmg3z9a70WDqI1wOYm7pIe62HZmAM5KWnMQmhZEqVEcVTpx3JrRAhx7rcCpT8kYRi4VhINKTPsIbPjQIVmYl9J9Qoct+vcJQ7hSc566Tk70RJ2tNeC5tUw1hAvqpumSKleLaF2NJcB0cdBsxirVjXp8OuviRXT+IjFMVLUGQW0YBljAJ1pyTtxeG5/sKE6M27KqJTTCxuDml+ZhL7bWsb0Bty4J7xz4qnkLqfO2balOqDXvd2Jr2oxbw9xFnDHxWRuWk73hIH42iD4Me1vDzqJVdB89QI9RjJ6jLfQWbaNdRL3v3k/vl/fbP/Q/+1/8r6etK1535h5aCP/bH7NXREA=</latexit>

3 2 2 3 2 3
cos ↵ sin ↵ 0
6 7 6 7 6 7
x0 = 4 sin ↵ 5 , y0 = 4 cos ↵ 5 , z0 = 4 0 5
z0
<latexit sha1_base64="AiGBAgpym3ksKmSTDTaBMNnrzn0=">AAACnXicbVHLbtQwFPWEVwmPTmHJgogZBKtRMhKCZREgdUFLkTqdSpNo5Dg3U2tsx7Kdoa3lbb+m2/Iv/A1OmgVpuZLlo3Pf9+SSUW3i+M8guHf/wcNHW4/DJ0+fPd8e7rw41lWtCMxIxSp1kmMNjAqYGWoYnEgFmOcM5vn6S+Ofb0BpWokjcy4h43glaEkJNp5aDqPxOEwNnJm2lM1ZDc6mGzD2wr1z4Xi8HI7iSdxadBckHRihzg6XOwNIi4rUHIQhDGu9SGJpMouVoYSBC9Nag8RkjVew8FBgDjqzbX8XvfVMEZWV8k+YqGX/zbCYa33Ocx/JsTnVt30N+V9foZuCve62iVK61H22lisFsO4PWmyo1N2oZzez9hcx5afMUiFrA4K4KApTAb9IxTkWRXtQt0gym4LQtYKmsbVp8+VlNEqc89W+gj+Xgn1PfmbyFOdehDZEXhBnfxwlzraIO0v9Il6Y5LYMd8HxdJJ8mMQ/p6PdaSfRFnqF3qD3KEEf0S7aQ4dohgi6RFfoGv0OXgffgu/BwU1oMOhyXqKeBfO/txPSkw==</latexit>

0 0 1
<latexit sha1_base64="jvGABaTvxrjpgpXguF3peFhTvwU=">AAACm3icbVHLTtwwFPUEKDQtZaDLqijqDBKrUTISgiWILqqqqFRiAGkSjRznZrAmdizbGR6Wd/2abtuf6d/ghCwa6JUsH537vicVBVU6DP/2vJXVtVfrG6/9N2833231t3cuVVlJAhNSFqW8TrGCgnKYaKoLuBYSMEsLuEoXp7X/aglS0ZJf6HsBCcNzTnNKsHbUrL87HPqxhjvdlDISMmviJWjzYK0/HM76g3AUNha8BFELBqi189l2D+KsJBUDrkmBlZpGodCJwVJTUoD140qBwGSB5zB1kGMGKjFNdxvsOSYL8lK6x3XQsP9mGMyUumepi2RY36jnvpr8ry9TdcFOd1NHSZWrLluJuQRYdAfNllSodtS7p1m7i+j8KDGUi0oDJzYI/JjDLSkZwzxr7mmnUWJi4KqSUDc2Jq6/NA8GkXWnjj+DO5eEM0eeFOIGp06DJkQ8EGu+X0TWNIhZQ90iTpjouQwvweV4FB2Mwh/jwfG4lWgDfUCf0D6K0CE6Rl/QOZoggn6iX+g3+uN99E69r963p1Cv1+a8Rx3zJo8eWtHr</latexit>

z
y0
<latexit sha1_base64="AO4l9kjeCb6WooteY75SxS6abJI=">AAACnXicbVHLbtQwFPWER0t4TWHJgogZBKtRMhJql60oEgseRep0Kk2ikePcTK2xHct2hk4tb/katvAv/A1OmgVpuZLlo3Pf9+SSUW3i+M8guHP33v2d3Qfhw0ePnzwd7j0701WtCMxIxSp1nmMNjAqYGWoYnEsFmOcM5vn6feOfb0BpWolTs5WQcbwStKQEG08th9F4HKYGLk1byuasBmfTDRi7dW9cOB4vh6N4ErcW3QZJB0aos5Pl3gDSoiI1B2EIw1ovkliazGJlKGHgwrTWIDFZ4xUsPBSYg85s299Frz1TRGWl/BMmatl/MyzmWm957iM5Nhf6pq8h/+srdFOw1902UUqXus/WcqUA1v1Biw2Vuhv18nrW/iKmPMgsFbI2IIiLojAV8J1UnGNRtAd1iySzKQhdK2gaW5s2X15Go8Q5X+0Y/LkUfPbkEZMXOPcitCHyijj79TRxtkXcWeoX8cIkN2W4Dc6mk+TdJP42HR1OO4l20Qv0Cr1FCdpHh+gjOkEzRNAP9BP9Qr+Dl8GH4FPw5To0GHQ5z1HPgvlftPXSkg==</latexit>


<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

• La matrice de rotation de O-x0 y 0 z 0 par rapport


<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

<latexit sha1_base64="4hIKd2UxsOUI58RgqR4QNIOz/Gs=">AAACm3icbVFdT9swFHUztkE2tsIe0VC0dhJPVVJpGo8geJjQpoFEAamJKse5KVZjx7KdUmb5jV+z1/Fn9m/mhDwQ2JUsH537fU8qCqp0GP7teS/WXr56vb7hv3m7+e59f2v7QpWVJDAhZVHKqxQrKCiHiaa6gCshAbO0gMt0cVT7L5cgFS35ub4VkDA85zSnBGtHzfq7w6Efa1jpppSRkFkTL0GblbX+cDjrD8JR2FjwHEQtGKDWTmdbPYizklQMuCYFVmoahUInBktNSQHWjysFApMFnsPUQY4ZqMQ03W3w2TFZkJfSPa6Dhn2cYTBT6palLpJhfa2e+mryv75M1QU73U0dJVWuumwl5hJg0R00W1Kh2lFXD7N2F9H5fmIoF5UGTmwQ+DGHG1IyhnnW3NNOo8TEwFUloW5sTFx/aR4MIutOHR+DO5eEH448LMQ1Tp0GTYj4Raz5eR5Z0yBmDXWLOGGipzI8BxfjUfRlFJ6NBwfjVqJ1tIM+oT0Uoa/oAH1Dp2iCCLpDv9EfdO999I68E+/7Q6jXa3M+oI55k38aINHp</latexit>

x y
<latexit sha1_base64="xonu3H0lROWRqs25qQ9CbZAVGv4=">AAACm3icbVFdT9swFHUztkE2tsIe0VC0dhJPVVJpGo8geJjQpoFEAamJKse5KVZjx7KdQmf5jV+z1/Fn9m/mhDwQ2JUsH537fU8qCqp0GP7teS/WXr56vb7hv3m7+e59f2v7QpWVJDAhZVHKqxQrKCiHiaa6gCshAbO0gMt0cVT7L5cgFS35uV4JSBiec5pTgrWjZv3d4dCPNdzqppSRkFkTL0GblbX+cDjrD8JR2FjwHEQtGKDWTmdbPYizklQMuCYFVmoahUInBktNSQHWjysFApMFnsPUQY4ZqMQ03W3w2TFZkJfSPa6Dhn2cYTBTasVSF8mwvlZPfTX5X1+m6oKd7qaOkipXXbYScwmw6A6aLalQ7ai3D7N2F9H5fmIoF5UGTmwQ+DGHG1IyhnnW3NNOo8TEwFUloW5sTFx/aR4MIutOHR+DO5eEH448LMQ1Tp0GTYj4Raz5eR5Z0yBmDXWLOGGipzI8BxfjUfRlFJ6NBwfjVqJ1tIM+oT0Uoa/oAH1Dp2iCCLpDv9EfdO999I68E+/7Q6jXa3M+oI55k38cPdHq</latexit>

à O-xyz engendrée, est donc:


<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

x0
<latexit sha1_base64="upRcA2CNW2wGMINHeRLeL7U09kw=">AAACnXicbVHLbtQwFPWEVwmvKSxZEDGDYDVKRkJ02YoiseBRpE6n0iQaOc7N1BrbsWxnmNbytl/TLfwLf4OTZkFarmT56Nz3PblkVJs4/jMI7ty9d//BzsPw0eMnT58Nd5+f6KpWBGakYpU6zbEGRgXMDDUMTqUCzHMG83z9sfHPN6A0rcSxOZeQcbwStKQEG08th9F4HKYGtqYtZXNWg7PpBozdurcuHI+Xw1E8iVuLboOkAyPU2dFydwBpUZGagzCEYa0XSSxNZrEylDBwYVprkJis8QoWHgrMQWe27e+iN54porJS/gkTtey/GRZzrc957iM5Nmf6pq8h/+srdFOw1902UUqXus/WcqUA1v1Biw2Vuht1ez1rfxFT7mWWClkbEMRFUZgK+EkqzrEo2oO6RZLZFISuFTSNrU2bLy+jUeKcr3YI/lwKvnrygMkznHsR2hB5QZz9fpw42yLuLPWLeGGSmzLcBifTSfJ+Ev+YjvannUQ76CV6jd6hBH1A++gzOkIzRNAlukK/0O/gVfAp+BJ8uw4NBl3OC9SzYP4XstfSkQ==</latexit>

2 3

<latexit sha1_base64="I/p2Fnjr5RaYnUj2+ntUMPsS/Gk=">AAADLnicbVJbb9MwFHbCbYRbBw888BLRgoZUqngCwcukIRDwghho3SbVUeW4J63V2Ilsp2yz/J/gzyDxgHjlZ+C0FZBtR7L8+Tv3c5xVBdcmSX4E4aXLV65e27ge3bh56/adzubdA13WisGQlUWpjjKqoeAShoabAo4qBVRkBRxm89eN/nABSvNS7puTClJBp5LnnFHjqXHnW68XkQUY+9mNT7cILaoZfRKT/g7px6SA3IxIPyIZTLm0ghrFj11EWKlXlvHj+CnRXP59JWShK8rAJgOMmXCERC19y/UC46Sh/cERATn5l7FPFJ/OTBr1euNONxkkS4nPA7wGXbSWvfFmAGRSslqANKygWo9wUpnUUmU4K8BHrzX4OuZ0CiMPJRWgU7ucrYsfeWYS56XyR5p4yf7vYanQ+kRk3tJXO9NndQ15oW6im4Ct7E2/M6Vz3WbraqoA5u1CJwte6XWpx6ta242Y/GVquaxqA5K5OI6IhC+sFIL6wTYrdyOcWj9mXStoEltLmivL4y52zkd7A35cCj548lWzssx/k6VJdcqc/biPnV0i4Sz3jfjF4LNrOA8Otgf4+SD5tN3dfbZe0QZ6gB6iLYTRC7SL3qM9NEQsuB/sBG+Dd+HX8Hv4M/y1Mg2Dtc891JLw9x+E6AKr</latexit>

cos ↵ sin ↵ 0
<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

6 7
Rz (↵) = 4 sin ↵ cos ↵ 05
0 0 1
De la même façon, on peut trouver la matrice de rotation autour de
l’axe x d’un angle et la matrice de rotation autour de l’axe y d’un angle
<latexit sha1_base64="/Is6Bvj54AhLGL+TmZhyJ7Kle18=">AAAChnicbVHLTuMwFHXDPErmwWvJJpp2pFlVSSXELItgwWZEkVpAaiLkODfFauxYtlMelj+DLXzX/A1OmwUBrmT56NzXsU8qCqp0GP7veBufPn/52t30v33/8XNre2f3QpWVJDAlZVHKqxQrKCiHqaa6gCshAbO0gMt0cVznL5cgFS35RN8LSBiec5pTgrWjZv2+H6egsd/vX2/3wkG4iuA9iBrQQ02Mr3c6EGclqRhwTQqs1CwKhU4MlpqSAqwfVwoEJgs8h5mDHDNQiVlptsFvx2RBXkp3uA5W7OsOg5lS9yx1lQzrG/U2V5Mf5jJVD2xtN3WVVLlqs5WYS4BFW2i2pEI1Uu/WWtsP0fnfxFAuKg2c2CDwYw63pGQM88zES9B2FiUmBq4qCfViY+L6SvOgF1nrpp2A+y4J/xx5VIgb7AxYl4gHYs3ZJLJmhZg11D3EGRO9teE9uBgOooNBeD7sjYaNRV20j36hPyhCh2iETtEYTRFBJXpET+jZ63oD78A7XJd6naZnD7XCG70ARxnIbA==</latexit>

<latexit sha1_base64="YcL1wDxprdl4MwMqk7ALxn5tiyk=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fjzGjGG/13vY7ob9cGbBVxA1oIsau3rY6UCclaRiwDUpsFKjKBQ6MVhqSgqwflwpEJhM8BhGDnLMQCVm1rQNfjomC/JSusd1MGM/RhjMlHphqVMyrB/VZ19N/teXqTphq7qpVVLlqs1WYiwBJu1GsykVqmn1ed5rexCdHyeGclFp4MQGgR9zeCKlWyLPTDwFbUdRYmLgqpJQFzYmrr80D7qRtS7bObh1SfjtyNNCPOIU9FwiXok1lzeRNTPErKFuEHeY6PMZvoLbQT866IfXg+7JoDnRCtpDP9AvFKEjdIIu0BUaIoIE+oPe0Lu36u17h97xXOp1mpjvqGXe6T9H4cjd</latexit>

<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>

<latexit sha1_base64="sjriyuknAAj+Nah+jm16UmOPVQ0=">AAACgnicbVFNb9QwEPWmBUr46seRS8QuEuKwihchOHBoBYdeEEXaj0qbqHKcya61sWPZztLW8o/gSn9Z/w3Obg5ky0iWn968mXn2ZLJk2sTxfS/Y23/0+MnB0/DZ8xcvXx0eHU91VSsKE1qVlbrMiIaSCZgYZkq4lAoIz0qYZauvTX62BqVZJcbmRkLKyUKwglFiPDUbDMLrcDC4OuzHw3gT0UOAW9BHbVxcHfUgyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KAuYeCcNCp3fh10VvP5FFRKX+EiTbsvxWWcK1veOaVnJil3s015H9zuW4adqbbRqV0obtsLRcKYNU1mq+Z1K3V663X7kNM8Tm1TMjagKAuisJEwC9acU5EbpM1GDfHqU1A6FpBM9japLmyIupj53y3b+C/S8F3T56VckkyMFuJvKXO/hhjZzeIO8v8Q/xi8O4aHoLpaIg/DuOfo/7pqF3RAXqN3qB3CKNP6BSdows0QRSt0G/0B90F+8H7AAcfttKg19acoE4EX/4CgyXGxA==</latexit>

Remarque: Ces matrices seront utiles pour décrire des rotations


dans l’espace 3D autour d’axes quelconques
11
Rotations élémentaires: sommaire Diapo à imprimer
pour le DS

2 3
1 0 0
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6 Matrice de rotation autour


Rx ( ) = 4 0 cos sin 7
5 de l’axe x d’un angle
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<latexit sha1_base64="sjriyuknAAj+Nah+jm16UmOPVQ0=">AAACgnicbVFNb9QwEPWmBUr46seRS8QuEuKwihchOHBoBYdeEEXaj0qbqHKcya61sWPZztLW8o/gSn9Z/w3Obg5ky0iWn968mXn2ZLJk2sTxfS/Y23/0+MnB0/DZ8xcvXx0eHU91VSsKE1qVlbrMiIaSCZgYZkq4lAoIz0qYZauvTX62BqVZJcbmRkLKyUKwglFiPDUbDMLrcDC4OuzHw3gT0UOAW9BHbVxcHfUgyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KAuYeCcNCp3fh10VvP5FFRKX+EiTbsvxWWcK1veOaVnJil3s015H9zuW4adqbbRqV0obtsLRcKYNU1mq+Z1K3V663X7kNM8Tm1TMjagKAuisJEwC9acU5EbpM1GDfHqU1A6FpBM9japLmyIupj53y3b+C/S8F3T56VckkyMFuJvKXO/hhjZzeIO8v8Q/xi8O4aHoLpaIg/DuOfo/7pqF3RAXqN3qB3CKNP6BSdows0QRSt0G/0B90F+8H7AAcfttKg19acoE4EX/4CgyXGxA==</latexit>

0 sin cos
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2 3
cos 0 sin
6 0 1 0 7 Matrice de rotation autour
Ry ( ) = 4 5
de l’axe y d’un angle
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<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>

sin 0 cos
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2 3
cos ↵ sin ↵ 0
6 7 Matrice de rotation autour
Rz (↵) = 4 sin ↵ cos ↵ 05
de l’axe z d’un angle ↵
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0 0 1

Remarque:
Pour les rotations élémentaires, la propriété suivante est vérifiée:

) = RTx ( ), ) = RTy ( ), Rz ( ↵) = RTz (↵)


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Rx ( Ry (
12
Représentation d’un vecteur
Hypothèse simplificatrice: l’origine du repère du solide coïncide avec l'origine
du repère fixe. Donc o0 = 03⇥1 = [0, 0, 0]T.
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On peut représenter le point 3D


P comme:
<latexit sha1_base64="Wqbj3liIjqI993hHV3Ei45zfhsM=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hbiWWRNhFynMlibexYtrMtWP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313qqlYUJrQqK3WVEQ0lEzAxzJRwJRUQnpUwzRbfmvx0CUqzSlyYWwkpJ3PBCkaJ8dR0MAjH4WBwvdePh/EqoqcAt6CP2hhf7/cgyStacxCGlkTrGY6lSS1RhtESXJjUGiShCzKHmYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK1veeaVnJgb/TjXkM/mct007Ey3jUrpQnfZWs4VwKJrNF8yqVurv9deuw8xxVFqmZC1AUFdFIWJgF+04pyI3CZLMG6GU5uA0LWCZrC1SXNlRdTHzvluZ+C/S8G5J09LeUMyMGuJvKPO/rjAzq4Qd5b5h/jF4MdreAouR0N8OIx/jvono3ZFW+gD+og+I4y+ohP0HY3RBFG0QH/QPfobbARfAhwcrKVBr615jzoRHD8ALu3GnA==</latexit>

<latexit sha1_base64="CYW0i3/5u8tDPARb72Z3Ey3w000=">AAAC73icbVFNb9MwGHbCx0r46uDIJaND4jBVSSUEF6QhOHBBDGndJtVR5bhvWquxY2ynrLP8O7ghrvwj+DMIJ8uBbHsly4+e9/t9clkybZLkTxDeun3n7s7gXnT/wcNHj4e7T050VSsKU1qVlTrLiYaSCZgaZko4kwoIz0s4zdfvG//pBpRmlTg2WwkZJ0vBCkaJ8dR8qPb3I7wBY6WL8cFbfBBHuITCzPBehHNYMmGJUmTrLHWRnJ/jjZaEgk3G6YRyh7EntzeRFxjEosuN8B5WbLkyWeTbzYejZJy0Fl8HaQdGqLOj+W4AeFHRmoMwtCRaz9JEmswXN4yW4MvXGvwAa7KEmYeCcNCZbY/j4heeWcRFpfwTJm7Z/zMs4Vpvee4jOTErfdXXkDf6Frop2OtumyilC91na7lUAOv+oIsNk7ob9fxy1v4ipniTWSZkbUBQF3thBHyjFefEH7bRzM3SzPoz61pB09ha3Hx5EY9S53y1D+DPpeCTJ9+VckVyr3MbIi+os5+PU2dbxJ1lfhEvTHpVhuvgZDJOX42TL5PR4aSTaICeoefoJUrRa3SIPqIjNEUU/UZ/g51gEH4Nv4c/wp+XoWHQ5TxFPQt//QNBO+9Z</latexit>

2 3
px
P
<latexit sha1_base64="71heWySeu3hwoWJYhf7pycizsJQ=">AAACgnicbVFNT9wwEPUGCjRtKdBjL1F3kVAPqxhUwYEDqD1wQd1KLIu0iZDjTBZrY8eyneXD8o/otf1l/BucJYcGOpLlpzdvZp49mSyZNnH82AtWVt+srW+8Dd+9/7D5cWt751JXtaIwplVZqauMaCiZgLFhpoQrqYDwrIRJNv/e5CcLUJpV4sLcS0g5mQlWMEqMpyaDQTgKB4PrrX48jJcRvQa4BX3Uxuh6uwdJXtGagzC0JFpPcSxNaokyjJbgwqTWIAmdkxlMPRSEg07t0q+Ldj2TR0Wl/BEmWrL/VljCtb7nmVdyYm70y1xD/jeX66ZhZ7ptVEoXusvWcqYA5l2j+YJJ3Vq9e/bafYgpjlLLhKwNCOqiKEwE3NKKcyJymyzAuClObQJC1wqawdYmzZUVUR8757v9AP9dCs49eVrKG5KBeZbIB+rszwvs7BJxZ5l/iF8MfrmG1+Byf4i/DeNf+/2Tg3ZFG+gz+oL2EEaH6ASdoREaI4rm6Df6g/4Gq8HXAAetNui1NZ9QJ4LjJy86xp0=</latexit>

6 7
p = 4 py 5 par rapport à O-xyz
<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

pz

et
2 3
p0x
<latexit sha1_base64="yxpqsroUwI6nRZSdIrB+oSAILxc=">AAAC83icbVFNb9MwGHbC18gG6+DIJaND4zBVSSUEF6QhOHBBDGndJtVR5bhvWquxY9lOWGf5l3BDXPlBSPwYnCwHuu2VLD963u/3yWXJtEmSP0F47/6Dh4+2HkfbO0+e7g72np3pqlYUJrQqK3WREw0lEzAxzJRwIRUQnpdwnq8+tv7zBpRmlTg1awkZJwvBCkaJ8dRs0BwcRLgBY6U7jPHRe3wUR7iEwkzxfoRzWDBhiVJk7Sx1kTycXeJGS0LBJqN0TLnDuGXXd7JXGMS8T4/wPlZssTRZ5FvOBsNklHQW3wZpD4aot5PZXgB4XtGagzC0JFpP00SazBc3jJbgy9ca/AQrsoCph4Jw0JntDuTiV56Zx0Wl/BMm7tj/MyzhWq957iM5MUt909eSd/rmui240d22UUoXepOt5UIBrDYHnTdM6n7Uy+tZNxcxxbvMMiFrA4K62Gsj4DutOCf+sK1ubppm1p9Z1wraxtbi9suLeJg656t9An8uBV88+aGUS5J7rbsQeUWd/XqaOtsh7izzi3hh0psy3AZn41H6ZpR8Gw+Px71EW+gFeoleoxS9RcfoMzpBE0TR3yAMtoOdsA5/hD/DX9ehYdDnPEcbFv7+B2MV7x4=</latexit>

6 7
p0 = 4 p0y 5 par rapport à O-x0 y 0 z 0
<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

p0z

13
Représentation d’un vecteur
Mais p et p0 sont deux représentations du même point P , donc
<latexit sha1_base64="lPxoM9Pw5S8s4gGC1AvwQsjCPRk=">AAACiXicbVHLTtwwFPUE2tLQlkeX3UTMVO1qFI+EQF2B6KIbVJAYQJqkyHFuBmtix7Kd4WH5P7pt/4q/qROyINArWT46931PJkumTRw/DIKV1Vev36y9Ddffvf+wsbm1fa6rWlGY0qqs1GVGNJRMwNQwU8KlVEB4VsJFtjhq/BdLUJpV4szcSUg5mQtWMEqMp36NRmGyBGOl+xKORlebw3gctxa9BLgDQ9TZydXWAJK8ojUHYWhJtJ7hWJrUEmUYLcGFSa1BErogc5h5KAgHndp2bBd99kweFZXyT5ioZZ9mWMK1vuOZj+TEXOvnvob8ry/XTcFed9tEKV3oPlvLuQJY9AfNl0zqbtTbx1n7i5hiP7VMyNqAoC6KwkTADa04JyK3zT3dDKc2AaFrBU1ja5Pmy4poiJ3z1b6DP5eCY08elvKaZF6DNkTeU2d/nmFnW8SdZX4RLwx+LsNLcD4Z491xfDoZHkw6idbQJ7SDviKM9tAB+oFO0BRRpNBv9Af9DdYDHOwH3x5Dg0GX8xH1LDj6B2bnycw=</latexit>

<latexit sha1_base64="Wqbj3liIjqI993hHV3Ei45zfhsM=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hbiWWRNhFynMlibexYtrMtWP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313qqlYUJrQqK3WVEQ0lEzAxzJRwJRUQnpUwzRbfmvx0CUqzSlyYWwkpJ3PBCkaJ8dR0MAjH4WBwvdePh/EqoqcAt6CP2hhf7/cgyStacxCGlkTrGY6lSS1RhtESXJjUGiShCzKHmYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK1veeaVnJgb/TjXkM/mct007Ey3jUrpQnfZWs4VwKJrNF8yqVurv9deuw8xxVFqmZC1AUFdFIWJgF+04pyI3CZLMG6GU5uA0LWCZrC1SXNlRdTHzvluZ+C/S8G5J09LeUMyMGuJvKPO/rjAzq4Qd5b5h/jF4MdreAouR0N8OIx/jvono3ZFW+gD+og+I4y+ohP0HY3RBFG0QH/QPfobbARfAhwcrKVBr615jzoRHD8ALu3GnA==</latexit>

<latexit sha1_base64="jPkdgO5tVcOauyDu3FR1Zd1TwTI=">AAACiHicbVHLTtwwFPWktIVAC5Qlm4gZJFajZCQ0sKOPBRsESAwgTSLkODeDNbFjbGeAWv6ObtvP6t/ghCwIcCXLR+e+70lFQZUOw/8978PSx0+fl1f81bUvX9c3Nr9dqrKSBCakLEp5nWIFBeUw0VQXcC0kYJYWcJXOf9b+qwVIRUt+oR8FJAzPOM0pwdpRyWDgxwvQRlh/MLjZ6IfDsLHgLYha0Eetnd1s9iDOSlIx4JoUWKlpFAqdGCw1JQVYP64UCEzmeAZTBzlmoBLTTG2DXcdkQV5K97gOGvZlhsFMqUeWukiG9a167avJd32Zqgt2ups6SqpcddlKzCTAvDtotqBCtaM+PM/aXUTnB4mhXFQaOLFB4Mcc7knJGOaZqc9pp1FiYuCqklA3NiauvzQP+pG1rtovcOeScOLI74W4xamToAkRv4k1pxeRNQ1i1lC3iBMmei3DW3A5Gkb7w/B81D8atRIto220g/ZQhMboCB2jMzRBBN2hP+gv+uf5XuiNvcPnUK/X5myhjnk/ngDrxsmb</latexit>

<latexit sha1_base64="AFYeAmc2LK7hu47p314NAEW6Jso=">AAADBnicbZHditQwFMfT+rXWr1nFK0GLszKCw9AuLAoirB8X3ogr7OwuTMqQpqezYdo0NOk4MyH3+jLeibe+hk/hK5h2qmx3PaXk8Dv/f3KSE4uMSRUEvxz30uUrV69tXfdu3Lx1+05v++6RLKqSwpgWWVGexERCxjiMFVMZnIgSSB5ncBzP39b14wWUkhX8UK0ERDmZcZYySpRF097XnR0PL0BpYXw8fIWHvhhMl3jYsKUZWPhsA1ctXJ2F6xauG1jb8Rs2m3h/7fil/VrXv9yKa1XUeoUZeLaLaa8fjIIm/ItJ2CZ91MbBdNsBnBS0yoErmhEpJ2EgVKRJqRjNwHi4kiAInZMZTGzKSQ4y0s2bGf+JJYmfFqX9ufIbetahSS7lKo+tMifqVJ6v1fC/tUTWG3ZO17WqlKns0krMSoB5t9FkwYRsW11ueu1eRKUvIs24qBRwanzfwxw+0yLPCU90/aBmEkYaA5dVCfXBWuN6iVO/Hxpjd3sH9rlK+GDh60ycktgOoZGINTX642FodJPlRjN7ETuY8PwYLiZHu6NwbxR82u3v77Uj2kIP0GP0FIXoOdpH79EBGiOKfjv3nYfOI/eL+8397v7YSF2n9dxDnXB//gGczvT3</latexit>

h i
p = p0x 0
x + p0y 0
y + p0z z = x y z p0
0 0 0 0

Mais cela signifie que (rappel les équations


vues précédemment):

p = R p0
<latexit sha1_base64="0+nb4eCwNEij9Jw/Ahg5sOazUok=">AAACtHicbVHLbtQwFPWEVwmPTsuSTcQMgsVolFQqZYPUql2wQRTUaSuNo5Hj3EytiR3LdqYtlj+Fr+kWPoC/wUmzIC1Xsnx07rnvTJZMmzj+MwgePHz0+MnG0/DZ8xcvN4db26e6qhWFGa3KSp1nREPJBMwMMyWcSwWEZyWcZavDxn+2BqVZJU7MtYSUk6VgBaPEeGox3BuPQ7wGY6WL8OQTnkTYwJVpE9usrMHZ1v3dOTzphO/C8XgxHMXTuLXoPkg6MEKdHS+2BoDzitYchKEl0XqexNKklijDaAkuxLUGSeiKLGHuoSAcdGrbRlz01jN5VFTKP2Gilv03whKu9TXPvJITc6Hv+hryv75cNwl71W2jUrrQfbaWSwWw6jear5nUXatXt732BzHFx9QyIWsDgrooCrGAS1pxTkTebtbNk9RiELpW0BS2FjdfVkSjxDmf7Qj8uhR88eRBKS9I5m/QSuQP6uzXk8TZFnFnmR/EHya5e4b74HRnmuxO4287o/3d7kQb6DV6g96jBO2hffQZHaMZougnukG/0O/gQ4ADGsCtNBh0Ma9QzwLxF19W248=</latexit>

P
<latexit sha1_base64="71heWySeu3hwoWJYhf7pycizsJQ=">AAACgnicbVFNT9wwEPUGCjRtKdBjL1F3kVAPqxhUwYEDqD1wQd1KLIu0iZDjTBZrY8eyneXD8o/otf1l/BucJYcGOpLlpzdvZp49mSyZNnH82AtWVt+srW+8Dd+9/7D5cWt751JXtaIwplVZqauMaCiZgLFhpoQrqYDwrIRJNv/e5CcLUJpV4sLcS0g5mQlWMEqMpyaDQTgKB4PrrX48jJcRvQa4BX3Uxuh6uwdJXtGagzC0JFpPcSxNaokyjJbgwqTWIAmdkxlMPRSEg07t0q+Ldj2TR0Wl/BEmWrL/VljCtb7nmVdyYm70y1xD/jeX66ZhZ7ptVEoXusvWcqYA5l2j+YJJ3Vq9e/bafYgpjlLLhKwNCOqiKEwE3NKKcyJymyzAuClObQJC1wqawdYmzZUVUR8757v9AP9dCs49eVrKG5KBeZbIB+rszwvs7BJxZ5l/iF8MfrmG1+Byf4i/DeNf+/2Tg3ZFG+gz+oL2EEaH6ASdoREaI4rm6Df6g/4Gq8HXAAetNui1NZ9QJ4LjJy86xp0=</latexit>

R représente la matrice de transformation qui


<latexit sha1_base64="/pgBnUlYpS6XLC2pmW684hwAWp4=">AAACnHicbVHLbtQwFPUECiW8pnSJRCNmKrEaJUUIlkV0gYSqtqgzrTSJRo5zM7XGdizbGVosL/s1bOFj+Js6aRak5UqWj85935NLRrWJ47+D4MHDjUePN5+ET589f/FyuPVqpqtaEZiSilXqPMcaGBUwNdQwOJcKMM8ZnOWrL43/bA1K00qcmisJGcdLQUtKsPHUYrgzHoepgUvTlrI5q8HZdA3GfncuHI8Xw1E8iVuL7oOkAyPU2fFiawBpUZGagzCEYa3nSSxNZrEylDBwYVprkJis8BLmHgrMQWe2be+iXc8UUVkp/4SJWvbfDIu51lc895Ecmwt919eQ//UVuinY626bKKVL3WdruVQAq/6gxZpK3Y16eTtrfxFTfsosFbI2IIiLojAV8INUnGNRtPd08ySzKQhdK2gaW5s2X15Go8T5U6cH4M+l4NCTn5m8wLnXoA2RP4mzR6eJsy3izlK/iBcmuSvDfTDbmyQfJvHJ3mj/fSfRJnqN3qJ3KEEf0T76io7RFBF0jX6h3+hP8CY4CL4Fh7ehwaDL2UY9C2Y33+jSOw==</latexit>

permet d’exprimer les coordonnées du point P


dans le repère O-xyz , en function des coordonnées
<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

du même point dans le repère O-x0 y 0 z 0


<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

R est une matrice orthogonale. Donc la


<latexit sha1_base64="dPuKGq4qOhwTmV+2MZtAvSAXFAg=">AAACiHicbVHLTtwwFPWE8mgo72U3ETNIXY2SkRBlx6MLNhUUMYA0iZDj3AzWxI5rO8PD8nd0235W/wYnZNFAr2T56Nz3PakoqNJh+LfnLXxYXFpe+eivflpb39jc2r5WZSUJjElZlPI2xQoKymGsqS7gVkjALC3gJp2d1v6bOUhFS36lnwQkDE85zSnB2lHJYODHc9Dm0vqDwd1mPxyGjQXvQdSCPmrt4m6rB3FWkooB16TASk2iUOjEYKkpKcD6caVAYDLDU5g4yDEDlZhmahvsOSYL8lK6x3XQsP9mGMyUemKpi2RY36u3vpr8ry9TdcFOd1NHSZWrLluJqQSYdQfN5lSodtTH11m7i+j8a2IoF5UGTmwQ+DGHB1Iyhnlm6nPaSZSYGLiqJNSNjYnrL82DfmStq/YN3LkkfHfkcSHuceokaELEM7Hm/CqypkHMGuoWccJEb2V4D65Hw2h/GP4Y9Y9GrUQr6DPaRV9QhA7QETpDF2iMCPqJfqHf6I/ne6F34B2+hnq9NmcHdcw7eQGsfsl9</latexit>

transformation inverse est simplement:

p 0 = RT p
<latexit sha1_base64="kuRpObUbJH0opb41z2q7KzwCn3g=">AAAConicbVHLbtQwFPWEVwmPTmHJJmJSwaIaJZUq2CAVwQIhIVqYaSuNw8hxbqbWxI5lOwPF8hfwNWzhS/gbnDQL0nIly8fnnvvyzWXFtEmSP6Pgxs1bt+9s3Q3v3X/wcHu88+hE142iMKd1VauznGiomIC5YaaCM6mA8LyC03z9pvWfbkBpVouZuZCQcbISrGSUGE8tx7txHOINGCvdswjvvcJ7Uff85L7Mej6M4+V4kkyTzqLrIO3BBPV2tNwZAS5q2nAQhlZE60WaSJNZogyjFbgQNxokoWuygoWHgnDQme3mcdGuZ4qorJU/wkQd+2+EJVzrC557JSfmXF/1teR/fYVuEw6q21aldKmHbCNXCmA9bLTYMKn7Vr9d9jocxJQvM8uEbAwI6qIoxAK+0ppzIgrbfqdbpJnFIHSjoC1sLW6vvIwmqXM+21vw36XggydfV/Kc5H4FnUR+p85+nKXOdog7y/wgfjHp1TVcByf70/RgmhzvTw4P+hVtoSfoKXqOUvQCHaJ36AjNEUU/0E/0C/0O4uB9cBx8vpQGoz7mMRpYgP8CZYbTLQ==</latexit>

14
Représentation d’un vecteur
Exemple:
Deux repères avec la même origine et une rotation relative d’un angle ↵
<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

autour de l’axe z
<latexit sha1_base64="bEZXBmRW089ZJUT8u3/K85hBqGw=">AAACgnicbVHBTtwwEPWmFGhaYGmPvUTdRUIcVvGiqhw4UNFDL1WpxLJImwg5zmSxNnYs21kKlj+Ca/tl/Zs6uzk00JEsP715M/PsyWTJtInjP73gxcbLza3tV+HrNzu7e/39t1e6qhWFCa3KSl1nREPJBEwMMyVcSwWEZyVMs8V5k58uQWlWiUtzLyHlZC5YwSgxnpoOh+FDOBze9AfxKF5F9BzgFgxQGxc3+z1I8orWHIShJdF6hmNpUkuUYbQEFya1Bknogsxh5qEgHHRqV35ddOCZPCoq5Y8w0Yr9t8ISrvU9z7ySE3Orn+Ya8r+5XDcNO9Nto1K60F22lnMFsOgazZdM6tbqz7XX7kNMcZJaJmRtQFAXRWEi4I5WnBOR22QJxs1wahMQulbQDLY2aa6siAbYOd/tC/jvUvDNk59LeUsyMGuJfKDOfr/Ezq4Qd5b5h/jF4KdreA6uxiP8cRT/GA/Oxu2KttF79AEdIow+oTP0FV2gCaJogR7RL/Q72AiOAhwcr6VBr615hzoRnP4Fh1vGxg==</latexit>

p, p0: coordonnées
<latexit sha1_base64="e0lX4Kh9oOzoYwbs5w5BDaxcdOg=">AAAClXicbVFdb9MwFHUD20o2WMceQOIlop3gYaqSIbS9IG1iQrygDWndJjVR5Tg3ndXYsWynUCzza3iF/8O/wcnyQLZdyfLRued+p6KgSofh35736PHa+kb/ib+59fTZ9mDn+aUqK0lgQsqilNcpVlBQDhNNdQHXQgJmaQFX6eJj7b9aglS05Bd6JSBheM5pTgnWjpoNXo5GfrwEbYTdj/db9MYfjWaDYTgOGwvug6gFQ9Ta+WynB3FWkooB16TASk2jUOjEYKkpKcD6caVAYLLAc5g6yDEDlZhmBBvsOSYL8lK6x3XQsP9HGMyUWrHUKRnWN+quryYf9GWqTtipbmqVVLnqspWYS4BFt9FsSYVqW/1+22t3EJ0fJYZyUWngxAaBH3P4RkrGMM9MvU87jRITA1eVhLqwMXH9pXkwjKx12U7BrUvCF0eeFOIGp+4GjUT8INacXUTWNIhZQ90g7jDR3TPcB5cH4+j9OPx6MDx+156oj16h1+gtitAhOkaf0TmaIIJ+ol/oN/rjvfA+eKfep1up12tjdlHHvLN/krLOKQ==</latexit>

du point P dans les


<latexit sha1_base64="71heWySeu3hwoWJYhf7pycizsJQ=">AAACgnicbVFNT9wwEPUGCjRtKdBjL1F3kVAPqxhUwYEDqD1wQd1KLIu0iZDjTBZrY8eyneXD8o/otf1l/BucJYcGOpLlpzdvZp49mSyZNnH82AtWVt+srW+8Dd+9/7D5cWt751JXtaIwplVZqauMaCiZgLFhpoQrqYDwrIRJNv/e5CcLUJpV4sLcS0g5mQlWMEqMpyaDQTgKB4PrrX48jJcRvQa4BX3Uxuh6uwdJXtGagzC0JFpPcSxNaokyjJbgwqTWIAmdkxlMPRSEg07t0q+Ldj2TR0Wl/BEmWrL/VljCtb7nmVdyYm70y1xD/jeX66ZhZ7ptVEoXusvWcqYA5l2j+YJJ3Vq9e/bafYgpjlLLhKwNCOqiKEwE3NKKcyJymyzAuClObQJC1wqawdYmzZUVUR8757v9AP9dCs49eVrKG5KBeZbIB+rszwvs7BJxZ5l/iF8MfrmG1+Byf4i/DeNf+/2Tg3ZFG+gz+oL2EEaH6ASdoREaI4rm6Df6g/4Gq8HXAAetNui1NZ9QJ4LjJy86xp0=</latexit>

repères O-xyz et O-x0 y 0 z 0


<latexit sha1_base64="oAWcUQnDUtB2cEsVJn1LAqzi+U8=">AAACp3icbVHdbtMwGHXD3wh/HVxyE9GiAhJVMmnaLofgghu0Ia1dpSaqHOdLZzV2LNvp2ll+B55mt+M1eBucNBdk45MsH53vfD/2SUVBlQ7DPz3vwcNHj5/sPfWfPX/x8lV///VUlZUkMCFlUcpZihUUlMNEU13ATEjALC3gIl19rfMXa5CKlvxcbwUkDC85zSnB2lGL/qfh0I81bHTTyqQFJitrThvKfLabUbAdBdcj6w+Hi/4gHIdNBPdB1IIBauNssd+DOCtJxYBrUmCl5lEodGKw1JQUYP24UiDcQLyEuYMcM1CJaTaxwXvHZEFeSne4Dhr23wqDmVJbljolw/pS3c3V5H9zmaobdqabWiVVrrpsJZYSYNVdNFtTodpVN7tduw/R+XFiKBeVBk5sEPgxhytSMoZ5ZuI1aDuPEhMDV5WEerAxcX2leTCIrHXdvoH7Lgk/HPmlEJc4Bb2TiGvizDmPrGkQs4a6hzhjors23AfTg3F0OA5/HgxOwtaiPfQWvUMfUISO0An6js7QBBH0C92gW/Tb++idelNvtpN6vbbmDeqEh/8Cg9rVuw==</latexit>

<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

P
<latexit sha1_base64="71heWySeu3hwoWJYhf7pycizsJQ=">AAACgnicbVFNT9wwEPUGCjRtKdBjL1F3kVAPqxhUwYEDqD1wQd1KLIu0iZDjTBZrY8eyneXD8o/otf1l/BucJYcGOpLlpzdvZp49mSyZNnH82AtWVt+srW+8Dd+9/7D5cWt751JXtaIwplVZqauMaCiZgLFhpoQrqYDwrIRJNv/e5CcLUJpV4sLcS0g5mQlWMEqMpyaDQTgKB4PrrX48jJcRvQa4BX3Uxuh6uwdJXtGagzC0JFpPcSxNaokyjJbgwqTWIAmdkxlMPRSEg07t0q+Ldj2TR0Wl/BEmWrL/VljCtb7nmVdyYm70y1xD/jeX66ZhZ7ptVEoXusvWcqYA5l2j+YJJ3Vq9e/bafYgpjlLLhKwNCOqiKEwE3NKKcyJymyzAuClObQJC1wqawdYmzZUVUR8757v9AP9dCs49eVrKG5KBeZbIB+rszwvs7BJxZ5l/iF8MfrmG1+Byf4i/DeNf+/2Tg3ZFG+gz+oL2EEaH6ASdoREaI4rm6Df6g/4Gq8HXAAetNui1NZ9QJ4LjJy86xp0=</latexit>

On trouve facilement que:



<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

p0x p0y
<latexit sha1_base64="BY9hHt10ZoVz8Rm+RrWD0eWQMl4=">AAADNXicbZFdb9MwFIad8DXCVweXSCiiQyBRqmRiGjdIQ+yCm8GQ1m1SXVWOe9pZjR3Ldkpby78L/goX3CFu+Qs4bbSRbUeKcvSc49evz8lkzrRJkp9BeOPmrdt3Nu5G9+4/ePiotfn4WBelotCjRV6o04xoyJmAnmEmh1OpgPAsh5Ns+rGqn8xAaVaII7OQMOBkItiYUWI8GrZ+bG1FOIMJE5YoRRbO5i6Sw3mMO+9xJ5Yvh3PcwbTQmOTyjHj8Zo0XHmsm1hjPtCQUbNJNdyh3GHuJRVPivNfj1xcS58rXSSwvJJYRBjGqPUbe9LDVTrrJKuKrSVonbVTH4XAzADwqaMlBGJoTrftpIs3ASxpGc3ARLjV4C1Mygb5PBeGgB3Y1Yhe/8GQUjwvlP2HiFf3/hCVc6wXPfCcn5kxfrlXw2tpIV4KN223VpfRYN2kpJwpg2jQ6mjGpa6vztdfmQ8z43cAyIUsDgro4jrCAb7TgnPhx4hkY108H1g9Xlwqqi63F1S8bx+3UOa+2D35cCg48/FBtKgOzbpFL6uyXo9TZVcadZf4hfjHp5TVcTY63/Z67ydft9t7bekUb6Cl6jl6hFO2iPfQJHaIeosGzYD84CD6H38Nf4e/wz7o1DOozT1Ajwr//AH0kBk8=</latexit>

px = cos ↵ sin ↵
py = p0x sin ↵ + p0y cos ↵

<latexit sha1_base64="K/YGU3NIoafeEXiHBbg1WD3vP2Q=">AAACh3icbVHLTuMwFHUzPMObWbKJph1pViWpxGMJggWbESBRQGoi5Dg3xWrsWLZTHpZ/Y7bwW/M347RZEJgrWT4699x3KgqqdBj+7XjfFhaXlldW/bX1jc2t7Z3dW1VWksCQlEUp71OsoKAchprqAu6FBMzSAu7SyVntv5uCVLTkN/pFQMLwmNOcEqwdFfd6fowL8Yj9Xu9huxv2w5kFX0HUgC5q7OphpwNxVpKKAdekwEqNolDoxGCpKSnA+nGlQGAywWMYOcgxA5WYWdM2+OmYLMhL6R7XwYz9GGEwU+qFpU7JsH5Un301+V9fpuqEreqmVkmVqzZbibEEmLQbzaZUqKbV53mv7UF0fpwYykWlgRMbBH7M4YmUjGGemXgK2o6ixMTAVSWhLmxMXH9pHnQja122c3DrkvDbkaf18lPQc4l4JdZc3kTWzBCzhrpB3GGiz2f4Cm4H/eigH14PuieD5kQraA/9QL9QhI7QCbpAV2iICBLoD3pD796qt+8desdzqddpYr6jlnmn/wBOPMjg</latexit>

pz = p0z

Remarque:
La matrice Rz (↵) représente non seulement l'orientation d'un repère par
<latexit sha1_base64="MLog5Adv9opG4rFsaMIJnYxLdDE=">AAAClHicbVHLTtwwFPWkUGgKZWilsmATdQaJbkYJEmoXXVDRSt3waMUA0iQaOc7NYE3sWLYzLVj+Grb0g/o3OCELAr2S5aNzz32noqBKh+G/nvdiafnlyuor//Xa+puN/ubbc1VWksCYlEUpL1OsoKAcxprqAi6FBMzSAi7S+WHtv1iAVLTkZ/paQMLwjNOcEqwdNe1vDYd+vABtftnpzW6MC3GFP/rD4bQ/CEdhY8FzELVggFo7nW72IM5KUjHgmhRYqUkUCp0YLDUlBVg/rhQITOZ4BhMHOWagEtNMYIMdx2RBXkr3uA4a9nGEwUypa5Y6JcP6Sj311eR/fZmqE3aqm1olVa66bCVmEmDebTRbUKHaVv889NodROefE0O5qDRwYoPAjzn8JiVjmGemXqydRImJgatKQl3YmLj+0jwYRNa6bN/ArUvCkSO/1ttP3TEaibgh1pycRdY0iFlD3SDuMNHTMzwH53ujaH8U/twbHITtiVbRNvqAdlGEPqED9AOdojEiyKJbdIf+eu+9L96h9/1B6vXamHeoY97xPVgUzZw=</latexit>

rapport à un autre, mais elle décrit également la transformation d'un vecteur


dans un repère en un autre avec la même origine
15
Composition de matrices de rotation

Problème: comment composer plusieurs rotations ?

Considérons trois repères O-x0 y0 z0 , O-x1 y1 z1 , O-x2 y2 z2 avec la même origine O


<latexit sha1_base64="mRi9k4yfBIkM8dOSSuUKGdd5Azc=">AAACgnicbVFNT9wwEPWmFGja8tVjL1F3K1U9rGIQggMHUHvopYJKLIu0iZDjTBZrY8eyneXD8o/gCr+Mf1NnN4cGOpLlpzdvZp49mSyZNnH83AverLxdXVt/F77/8HFjc2t750JXtaIwolVZqcuMaCiZgJFhpoRLqYDwrIRxNvvR5MdzUJpV4tzcSUg5mQpWMEqMp8aDQXgaDgZXW/14GC8ieg1wC/qojbOr7R4keUVrDsLQkmg9wbE0qSXKMFqCC5NagyR0RqYw8VAQDjq1C78u+uqZPCoq5Y8w0YL9t8ISrvUdz7ySE3OtX+Ya8r+5XDcNO9Nto1K60F22llMFMOsazedM6tbq7dJr9yGmOEwtE7I2IKiLojARcEMrzonIbTIH4yY4tQkIXStoBlubNFdWRH3snO/2E/x3KfjtyZNSXpMMzFIi76mzp+fY2QXizjL/EL8Y/HINr8HF7hDvD+M/u/1j3K5oHX1GX9A3hNEBOka/0BkaIYpm6AE9oqdgJfge4GBvKQ16bc0n1Ing6C8shcaa</latexit>

<latexit sha1_base64="UZMt9uSrNsx2T3fBRVLEPpzxo6g=">AAACrHicbVHLjtMwFHXDawiP6cCSTUSLxAKKMxKC5SBYsEEMUjszUhNFjnPTsRo7lu2Udix/Bl/DFj6Cv8FJsyAzXMn20bnnvnxzWTFtMP4zCm7dvnP33sH98MHDR48Px0dPznTdKAoLWle1usiJhooJWBhmKriQCgjPKzjP1x9b//kGlGa1mJudhJSTlWAlo8R4Khu/mU7DxMDWdKlsXhG6dvZrR9nXbpvh5NWuva4y7MLpNBtP8Ax3Ft0EcQ8mqLfT7GgESVHThoMwtCJaL2MsTWqJMoxW4MKk0SB9VbKCpYeCcNCp7dpx0QvPFFFZK3+EiTr23whLuNY7nnslJ+ZSX/e15H99hW4TDqrbVqV0qYdsI1cKYD1stNgwqftWt/teh4OY8n1qmZCNAUFdFIWJgO+05pyIwiYbMG4ZpzYBoRsFbWFrk/bJy2gSO+ezfQL/XQq+ePJDJS9JDmYvkVfUb2geO9sh7izzg/jFxNfXcBOcHc/itzP87XhygvsVHaBn6Dl6iWL0Dp2gz+gULRBFP9BP9Av9DmbBPFgG6V4ajPqYp2hgQfkX1qXX9Q==</latexit>

<latexit sha1_base64="KRn/rR6aiMTK5L+l6nN18M4JIOA=">AAACqXicbVHdbtMwFHbD3wg/6+CSm4gWCQmo4kkILjfBBTeITVq3iiaKHOe0sxo7lu107Sy/BE/DLbwFb4OT5oJsHOnIn77z7y+XJdMmjv8Mgjt3791/sPcwfPT4ydP94cGzc13VisKUVmWlZjnRUDIBU8NMCTOpgPC8hIt89amJX6xBaVaJM7OVkHKyFGzBKDGeyoZvx+MwMbAxbSublzU4+61l7Du3yXC09X6dYReOx9lwFE/i1qLbAHdghDo7yQ4GkBQVrTkIQ0ui9RzH0qSWKMNoCS5Mag2S0BVZwtxDQTjo1La7uOiVZ4poUSnvwkQt+2+FJVzrLc99JifmUt+MNeR/Y4VuGvam2yZL6YXus7VcKoBVf9FizaTuVt3sdu0fYhYfU8uErA0I6qIoTARc0YpzIgqbrMG4OU5tAkLXCprB1ibNky+iEXbOd/sM/rsUfPXkcSkvSQ5mlyKvqdfnDDvbIu4s84d4YfBNGW6D88MJfj+JTw9HR3En0R56gV6i1wijD+gIfUEnaIoo+oF+ol/od/AmOA1mwfddajDoap6jngX0L9OS1rU=</latexit> <latexit sha1_base64="WCN+ZS1ZoeKy8pWrSOPzFp8rcFk=">AAACqnicbVHLbtQwFPWkPEp4TcuSTcQMEot2lIyE6LKILtggCuq0RZMocpybqTWxY9nOdKaWv6Jfwxa+gr/ByWRBWq5k++jcc1++mSip0mH4Z+DtPHj46PHuE//ps+cvXg739s9VVUsCM1KVlbzMsIKScphpqku4FBIwy0q4yJafGv/FCqSiFT/TGwEJwwtOC0qwdlQ6PByP/VjDWrepjITcmq8tYQ7tOp3GB5vmukmn1h+P0+EonIStBfdB1IER6uw03RtAnFekZsA1KbFS8ygUOjFYakpKsH5cKxCYLPEC5g5yzEAlpm3GBm8dkwdFJd3hOmjZfyMMZkptWOaUDOsrddfXkP/15apJ2KtuGpVUheqztVhIgGW/0XxFhepaXW977Q+ii6PEUC5qDZzYIPBjDtekYgzz3MQr0HYeJSYGrmoJTWFj4ubJimAUWeuynYD7LglfHPmxFFc4A72ViBviNnQWWdMiZg11g7jFRHfXcB+cTyfR+0n4bTo6DrsV7aLX6A16hyL0AR2jz+gUzRBBt+gn+oV+ewfed++HN99KvUEX8wr1zMv/At9D1yU=</latexit>

p0 , p1 , p2 2 R3 : coordonnées d’un point P dans les trois repères


<latexit sha1_base64="6PjS1eyi5ysd4WDCsW6rpXLQ6f8=">AAACtnicbVFNb9QwEPWGrxK+tnDkYrGLxKFaJVshCqciOHBBFNRtK22yK8eZbK2NHct2Forl38Kv4Qpn/g1ONkhNy0iWnt48z7yZyWTJtImiP4Pgxs1bt+/s3A3v3X/w8NFw9/GJrmpFYUarslJnGdFQMgEzw0wJZ1IB4VkJp9n6XZM/3YDSrBLH5kJCyslKsIJRYjy1HL4ej8NkA8ZKt4j2kr1/OL6EpzhhAiecmPMss1/cYv9NOB4vh6NoErWBr4O4AyPUxdFydwBJXtGagzC0JFrP40ia1BJlGC3BhUmtQRK6JiuYeygIB53adkaHn3smx0Wl/BMGt+zlH5ZwrS945pWNUX0115D/zeW6KdjrbhuV0oXus7VcKYB132i+YVJ3Vr9tvfYHMcVBapmQtQFBHcZhIuArrTgnIrfNit08Tm0CQtcKmsbWbldd4FHsnK/2Hvy6FHz05NtSnpPMn6WVyO/U2U/HsbMt4s4yP4g/THz1DNfByXQSv5xEn6ejw2l3oh30FD1DL1CMXqFD9AEdoRmi6Af6iX6h38FBsAggWG2lwaD78wT1IpB/AZW12xE=</latexit>

<latexit sha1_base64="WCN+ZS1ZoeKy8pWrSOPzFp8rcFk=">AAACqnicbVHLbtQwFPWkPEp4TcuSTcQMEot2lIyE6LKILtggCuq0RZMocpybqTWxY9nOdKaWv6Jfwxa+gr/ByWRBWq5k++jcc1++mSip0mH4Z+DtPHj46PHuE//ps+cvXg739s9VVUsCM1KVlbzMsIKScphpqku4FBIwy0q4yJafGv/FCqSiFT/TGwEJwwtOC0qwdlQ6PByP/VjDWrepjITcmq8tYQ7tOp3GB5vmukmn1h+P0+EonIStBfdB1IER6uw03RtAnFekZsA1KbFS8ygUOjFYakpKsH5cKxCYLPEC5g5yzEAlpm3GBm8dkwdFJd3hOmjZfyMMZkptWOaUDOsrddfXkP/15apJ2KtuGpVUheqztVhIgGW/0XxFhepaXW977Q+ii6PEUC5qDZzYIPBjDtekYgzz3MQr0HYeJSYGrmoJTWFj4ubJimAUWeuynYD7LglfHPmxFFc4A72ViBviNnQWWdMiZg11g7jFRHfXcB+cTyfR+0n4bTo6DrsV7aLX6A16hyL0AR2jz+gUzRBBt+gn+oV+ewfed++HN99KvUEX8wr1zMv/At9D1yU=</latexit>

O-x2 y2 z2 O-x1 y1 z1
<latexit sha1_base64="KRn/rR6aiMTK5L+l6nN18M4JIOA=">AAACqXicbVHdbtMwFHbD3wg/6+CSm4gWCQmo4kkILjfBBTeITVq3iiaKHOe0sxo7lu107Sy/BE/DLbwFb4OT5oJsHOnIn77z7y+XJdMmjv8Mgjt3791/sPcwfPT4ydP94cGzc13VisKUVmWlZjnRUDIBU8NMCTOpgPC8hIt89amJX6xBaVaJM7OVkHKyFGzBKDGeyoZvx+MwMbAxbSublzU4+61l7Du3yXC09X6dYReOx9lwFE/i1qLbAHdghDo7yQ4GkBQVrTkIQ0ui9RzH0qSWKMNoCS5Mag2S0BVZwtxDQTjo1La7uOiVZ4poUSnvwkQt+2+FJVzrLc99JifmUt+MNeR/Y4VuGvam2yZL6YXus7VcKoBVf9FizaTuVt3sdu0fYhYfU8uErA0I6qIoTARc0YpzIgqbrMG4OU5tAkLXCprB1ibNky+iEXbOd/sM/rsUfPXkcSkvSQ5mlyKvqdfnDDvbIu4s84d4YfBNGW6D88MJfj+JTw9HR3En0R56gV6i1wijD+gIfUEnaIoo+oF+ol/od/AmOA1mwfddajDoap6jngX0L9OS1rU=</latexit>

P <latexit sha1_base64="mRi9k4yfBIkM8dOSSuUKGdd5Azc=">AAACgnicbVFNT9wwEPWmFGja8tVjL1F3K1U9rGIQggMHUHvopYJKLIu0iZDjTBZrY8eyneXD8o/gCr+Mf1NnN4cGOpLlpzdvZp49mSyZNnH83AverLxdXVt/F77/8HFjc2t750JXtaIwolVZqcuMaCiZgJFhpoRLqYDwrIRxNvvR5MdzUJpV4tzcSUg5mQpWMEqMp8aDQXgaDgZXW/14GC8ieg1wC/qojbOr7R4keUVrDsLQkmg9wbE0qSXKMFqCC5NagyR0RqYw8VAQDjq1C78u+uqZPCoq5Y8w0YL9t8ISrvUdz7ySE3OtX+Ya8r+5XDcNO9Nto1K60F22llMFMOsazedM6tbq7dJr9yGmOEwtE7I2IKiLojARcEMrzonIbTIH4yY4tQkIXStoBlubNFdWRH3snO/2E/x3KfjtyZNSXpMMzFIi76mzp+fY2QXizjL/EL8Y/HINr8HF7hDvD+M/u/1j3K5oHX1GX9A3hNEBOka/0BkaIYpm6AE9oqdgJfge4GBvKQ16bc0n1Ing6C8shcaa</latexit>

<latexit sha1_base64="UZMt9uSrNsx2T3fBRVLEPpzxo6g=">AAACrHicbVHLjtMwFHXDawiP6cCSTUSLxAKKMxKC5SBYsEEMUjszUhNFjnPTsRo7lu2Udix/Bl/DFj6Cv8FJsyAzXMn20bnnvnxzWTFtMP4zCm7dvnP33sH98MHDR48Px0dPznTdKAoLWle1usiJhooJWBhmKriQCgjPKzjP1x9b//kGlGa1mJudhJSTlWAlo8R4Khu/mU7DxMDWdKlsXhG6dvZrR9nXbpvh5NWuva4y7MLpNBtP8Ax3Ft0EcQ8mqLfT7GgESVHThoMwtCJaL2MsTWqJMoxW4MKk0SB9VbKCpYeCcNCp7dpx0QvPFFFZK3+EiTr23whLuNY7nnslJ+ZSX/e15H99hW4TDqrbVqV0qYdsI1cKYD1stNgwqftWt/teh4OY8n1qmZCNAUFdFIWJgO+05pyIwiYbMG4ZpzYBoRsFbWFrk/bJy2gSO+ezfQL/XQq+ePJDJS9JDmYvkVfUb2geO9sh7izzg/jFxNfXcBOcHc/itzP87XhygvsVHaBn6Dl6iWL0Dp2gz+gULRBFP9BP9Av9DmbBPFgG6V4ajPqYp2hgQfkX1qXX9Q==</latexit>

O-x0 y0 z0

16
Composition de matrices de rotation
j
<latexit sha1_base64="Nhq0xtjYWIBJs1BIzIqdHqElvq8=">AAACjnicbVFNb9MwGHYDgxEGtHDkEtFO2qlKNm3jghgah10QA7XbpCZUjvOmM40dy3Y6Nss/Zdfxm/g3OGkOZOOVLD963u/3SUVBlQ7DPz3v0eONJ083n/nPt168fNUfvD5TZSUJTElZlPIixQoKymGqqS7gQkjALC3gPF0e1/7zFUhFSz7R1wIShhec5pRg7ah5fzAa+fEKtPluf/ycU380mveH4ThsLHgIohYMUWun80EP4qwkFQOuSYGVmkWh0InBUlNSgPXjSoHAZIkXMHOQYwYqMc3sNth2TBbkpXSP66Bh/80wmCl1zVIXybC+VPd9NflfX6bqgp3upo6SKlddthILCbDsDpqtqFDtqL/Ws3YX0fn7xFAuKg2c2CDwYw5XpGQM88zUJ7WzKDExcFVJqBsbE9dfmgfDyFpX7TO4c0n44shPhbjEqZOhCRE3xJqvk8iaBjFrqFvECRPdl+EhONsdR/vj8Nvu8GivlWgTvUXv0A6K0CE6QifoFE0RQVfoFt2h317fO/A+eB/XoV6vzXmDOuad/AUm2stn</latexit>

Soit Ri la matrice de rotation du repère i par rapport au repère j


<latexit sha1_base64="+jPMESYCmDw2n6rcKZDr13GtXwA=">AAACgnicbVHBTtwwEPWmlELaUqBHLlF3K1U9rOKtUHvoAUQPXCqoxLJImwg5zmQxGzuW7WxLLX8EV/gy/qbObg4EOpLlpzdvZp49mSyZNnH80AterL1cf7WxGb5+83br3fbO7rmuakVhTKuyUhcZ0VAyAWPDTAkXUgHhWQmTbH7U5CcLUJpV4szcSEg5mQlWMEqMpyaDQXgdDgaX2/14GC8jeg5wC/qojdPLnR4keUVrDsLQkmg9xbE0qSXKMFqCC5NagyR0TmYw9VAQDjq1S78u+uiZPCoq5Y8w0ZJ9XGEJ1/qGZ17JibnST3MN+d9crpuGnem2USld6C5by5kCmHeN5gsmdWv1z8pr9yGm+JZaJmRtQFAXRWEi4DetOCcit8kCjJvi1CYgdK2gGWxt0lxZEfWxc77bD/DfpeCnJw9LeUUyMCuJ/EudPTnDzi4Rd5b5h/jF4KdreA7OR0O8P4x/jfoH++2KNtAe+oA+IYy+ogN0jE7RGFE0R7foDt0Ha8HnAAdfVtKg19a8R50Ivv8DZpLGuQ==</latexit>

<latexit sha1_base64="SBMUd67rayvkvlPd388rXMHO9A4=">AAACgnicbVHBTtwwEPWm0C4ptNAeuUTsVqo4rGIqVA4cqMqhF9RFYlmkTYQcZ7JYGzuW7WxLLX9Er/TL+jc4uzk00JEsP715M/PsyWTJtInjv73gxcbmy1f9rfD19s6bt7t77651VSsKE1qVlbrJiIaSCZgYZkq4kQoIz0qYZouvTX66BKVZJa7MvYSUk7lgBaPEeGo6HIYsHA5vdwfxKF5F9BzgFgxQG+PbvR4keUVrDsLQkmg9w7E0qSXKMFqCC5NagyR0QeYw81AQDjq1K78u+uCZPCoq5Y8w0Yr9t8ISrvU9z7ySE3Onn+Ya8r+5XDcNO9Nto1K60F22lnMFsOgazZdM6tbqz7XX7kNMcZJaJmRtQFAXRWEi4AetOCcit8kSjJvh1CYgdK2gGWxt0lxZEQ2wc77bOfjvUnDhyS+lvCMZmLVE/qLOfr/Czq4Qd5b5h/jF4KdreA6uj0b4eBRfHg3OjtsV9dE+OkAfEUaf0Rn6hsZogihaoN/oAf0JNoLDAAef1tKg19a8R50ITh8BZHfGuA==</latexit>

Donc

p1 = R12 p2
<latexit sha1_base64="NgCDVU9M3WIMFrml6uvRAZWDdD4=">AAACqXicbVHdbtMwFHbD3wh/HVxyE9EiIVFVcSXYbpCG4IIbxIbWraIJleOcdFZjx7KdwrD8EjwNt/AWvA1OFiSycSTL3/nO/zmZLJk2cfx7EFy7fuPmrZ3b4Z279+4/GO4+PNFVrSjMaVVWapERDSUTMDfMlLCQCgjPSjjNNm8a++kWlGaVODbnElJO1oIVjBLjqdVwMh6HyRaMle4zjpLJq2QStfpHr69myeSvcRaOx6vhKJ7GrURXAe7ACHVyuNodQJJXtOYgDC2J1kscS5NaogyjJbgwqTVIQjdkDUsPBeGgU9uO5aKnnsmjolL+CRO17L8RlnCtz3nmPTkxZ/qyrSH/a8t1k7BX3TZeShe6z9ZyrQA2/UbzLZO6a/XrRa/9QUyxn1omZG1AUBdFYSLgC604JyK3zULdEqc2AaFrBU1ha5Pmy4pohJ3z2d6CX5eC9558XcozkvkjtC7yG3X2wzF2tkXcWeYH8YfBl89wFZzMpvjFND6ajQ5edifaQY/RE/QMYbSHDtA7dIjmiKLv6Af6iX4Fz4OjYBF8unANBl3MI9STgP4B1AHVYg==</latexit>

De même, nous avons:

p0 = R01 p1
<latexit sha1_base64="4H0nOwkB7/RW00/ZbGUSBTqDHiE=">AAACqXicbVHdbtMwFHbDz0b469glNxEtEhJVFU9icIM0xC64QWxo3SqaUDnOSWc1dizbKQzLL8HTcAtvwdvgZEEiG0ey/J3v/J+TyZJpE8e/B8GNm7dub23fCe/eu//g4XDn0amuakVhRquyUvOMaCiZgJlhpoS5VEB4VsJZtn7b2M82oDSrxIm5kJByshKsYJQYTy2Hk/E4TDZgrHSf4yiZvE4mUat/9PoSJ5O/RhyOx8vhKJ7GrUTXAe7ACHVytNwZQJJXtOYgDC2J1gscS5NaogyjJbgwqTVIQtdkBQsPBeGgU9uO5aKnnsmjolL+CRO17L8RlnCtL3jmPTkx5/qqrSH/a8t1k7BX3TZeShe6z9ZypQDW/UbzDZO6a/XrZa/9QUzxKrVMyNqAoC6KwkTAF1pxTkRum4W6BU5tAkLXCprC1ibNlxXRCDvnsx2CX5eC9558U8pzkvkjtC7yG3X2wwl2tkXcWeYH8YfBV89wHZzuTfGLaXy8NzrY7060jR6jJ+gZwuglOkDv0BGaIYq+ox/oJ/oVPA+Og3nw6dI1GHQxu6gnAf0Dy2DVXg==</latexit>

p0 = R02 p2
<latexit sha1_base64="7N6y8SBfmqJg0gvyEzPciBCPvAw=">AAACqXicbVHdbtMwFHbD3wh/HVxyY9EiIVFVSSXYbpCG4IIbxIbWraIJleOcdFZjx7KdwrD8EjwNt/AWvA1OFiSycSTL3/nO/zmZLJk2UfR7EFy7fuPmrZ3b4Z279+4/GO4+PNFVrSjMaVVWapERDSUTMDfMlLCQCgjPSjjNNm8a++kWlGaVODbnElJO1oIVjBLjqdVwMh6HyRaMle5zhJPJq2SCW/2j11ezZPLXOAvH49VwFE2jVvBVEHdghDo5XO0OIMkrWnMQhpZE62UcSZNaogyjJbgwqTVIQjdkDUsPBeGgU9uO5fBTz+S4qJR/wuCW/TfCEq71Oc+8JyfmTF+2NeR/bbluEvaq28ZL6UL32VquFcCm32i+ZVJ3rX696LU/iCn2U8uErA0I6jAOEwFfaMU5EbltFuqWcWoTELpW0BS2Nmm+rMCj2Dmf7S34dSl478nXpTwjmT9C6yK/UWc/HMfOtog7y/wg/jDx5TNcBSezafxiGh3NRgcvuxPtoMfoCXqGYrSHDtA7dIjmiKLv6Af6iX4Fz4OjYBF8unANBl3MI9STgP4Bz6HVYA==</latexit>

Mais alors on peut conclure que:

R02 = R01 R12


<latexit sha1_base64="/bonjGf3DCk5ypAqHBvGf4RdUzc=">AAACrXicbVHLbtQwFPWEVwmvKSzZRMwgsRgN8QgEG6QiWLBBFNRpK03SyHFuptbEjmU7A8Xyb/A1bOEf+BucNAjSciXLx+ee+/LNZcW0ieNfo+DK1WvXb+zcDG/dvnP33nj3/qGuG0VhSeuqVsc50VAxAUvDTAXHUgHheQVH+eZN6z/agtKsFgfmTELKyVqwklFiPJWN4+k0TLZg7Cd3EmeLKJm9SmbRXwYnsz8PnC3C6TQbT+J53Fl0GeAeTFBv+9nuCJKipg0HYWhFtF7hWJrUEmUYrcCFSaNBEroha1h5KAgHndpuNBc99kwRlbXyR5ioY/+NsIRrfcZzr+TEnOqLvpb8r6/QbcJBdduqlC71kG3kWgFsho0WWyZ13+qX816Hg5jyZWqZkI0BQV0UhYmAz7TmnIjCtl/qVji1CQjdKGgLW5u0V15GE+ycz/YW/HcpeO/J15U8JblfQyeRX6mzHw6wsx3izjI/iF8MvriGy+BwMcfP5/HHxWTvWb+iHfQQPUJPEEYv0B56h/bRElH0DX1HP9DP4GmwDJLg5FwajPqYB2hgwfo3d9TWag==</latexit>

17
Composition de matrices de rotation
Considérons un repère initialement aligné avec O-x0 y0 z0
<latexit sha1_base64="UZMt9uSrNsx2T3fBRVLEPpzxo6g=">AAACrHicbVHLjtMwFHXDawiP6cCSTUSLxAKKMxKC5SBYsEEMUjszUhNFjnPTsRo7lu2Udix/Bl/DFj6Cv8FJsyAzXMn20bnnvnxzWTFtMP4zCm7dvnP33sH98MHDR48Px0dPznTdKAoLWle1usiJhooJWBhmKriQCgjPKzjP1x9b//kGlGa1mJudhJSTlWAlo8R4Khu/mU7DxMDWdKlsXhG6dvZrR9nXbpvh5NWuva4y7MLpNBtP8Ax3Ft0EcQ8mqLfT7GgESVHThoMwtCJaL2MsTWqJMoxW4MKk0SB9VbKCpYeCcNCp7dpx0QvPFFFZK3+EiTr23whLuNY7nnslJ+ZSX/e15H99hW4TDqrbVqV0qYdsI1cKYD1stNgwqftWt/teh4OY8n1qmZCNAUFdFIWJgO+05pyIwiYbMG4ZpzYBoRsFbWFrk/bJy2gSO+ezfQL/XQq+ePJDJS9JDmYvkVfUb2geO9sh7izzg/jFxNfXcBOcHc/itzP87XhygvsVHaBn6Dl6iWL0Dp2gz+gULRBFP9BP9Av9DmbBPFgG6V4ajPqYp2hgQfkX1qXX9Q==</latexit>

La rotation définie par R02 peut être obtenue en deux étapes:


<latexit sha1_base64="5Dg3VkbwnzGl1H7izqfhTiAumks=">AAACjnicbVFNT9swGHYDGyz7oGVHLhHtpJ2qpNIGFwTTduCCgIkCUpNVjvOmWI0dy3bKmOWfwpX9pv2bOSGHBfZKlh897/f7pKKgSofhn563tv7i5cbmK//1m7fvtvqD7UtVVpLAlJRFKa9TrKCgHKaa6gKuhQTM0gKu0uXX2n+1AqloyS/0nYCE4QWnOSVYO2reH4xGfrwCbb7bH+F84o9G8/4wHIeNBc9B1IIhau1sPuhBnJWkYsA1KbBSsygUOjFYakoKsH5cKRCYLPECZg5yzEAlppndBh8ckwV5Kd3jOmjYfzMMZkrdsdRFMqxv1FNfTf7Xl6m6YKe7qaOkylWXrcRCAiy7g2YrKlQ76s/HWbuL6Hw/MZSLSgMnNgj8mMMtKRnDPDP1Se0sSkwMXFUS6sbGxPWX5sEwstZV+wbuXBJOHPmlEDc4dTI0IeIXseb0IrKmQcwa6hZxwkRPZXgOLifj6NM4PJ8MjyatRJtoB+2ijyhCe+gIHaMzNEUE3aJ79IB+e33vs3fgHT6Ger025z3qmHf8FzgfyvU=</latexit>

1. Tourne le repère avec R01 pour l’aligner avec O-x1 y1 z1


<latexit sha1_base64="TnkCfc8cGfdNhW7zxdJIXbrL0LM=">AAACjnicbVHJbtswEKXVLVE3uz32ItQu0JMhGuhyKZogPeRSNC3iJIClGhQ1cgiLFEFSzkLwU3ptvil/E0rRoUo6AMGHN/u8TJZMmzi+HgQPHj56/GRrO3z67PmLl8PRqyNd1YrCnFZlpU4yoqFkAuaGmRJOpALCsxKOs/Ve4z/egNKsEofmQkLKyUqwglFiPLUcjiaTMNmAsb/c73iJw8lkORzH07i16D7AHRijzg6WowEkeUVrDsLQkmi9wLE0qSXKMFqCC5NagyR0TVaw8FAQDjq17ewueueZPCoq5Z8wUcv+m2EJ1/qCZz6SE3Oq7/oa8r++XDcFe91tE6V0oftsLVcKYN0fNN8wqbtRz29n7S9iis+pZULWBgR1URQmAs5oxTkRuW1O6hY4tQkIXStoGlubNF9WRGPsnK/2Dfy5FHz35G4pT0nmZWhD5CV19schdrZF3FnmF/HC4Lsy3AdHsyn+MI1/zsY7s06iLfQGvUXvEUaf0A7aRwdojig6Q3/QX3QVDIOPwZfg621oMOhyXqOeBfs3NgTK9A==</latexit>

<latexit sha1_base64="L4Jlv9K0iem1Jjsaoiakuho0oyU=">AAACqnicbVHLbtQwFPWEVwmPTmHJJmIGiQUdxZUQLItgwQZRUKctmkSR49xMrYkdy3aGmVr+Cr6GLXwFf4OTyYK0XOnKR+e+fXJZMW3i+M8ouHX7zt17e/fDBw8fPd4fHzw503WjKMxpXdXqIicaKiZgbpip4EIqIDyv4DxfvW/j52tQmtXi1GwlpJwsBSsZJcZT2fhwOg0TAxvTtbJ5RejK2c8dZQ/dJsPR1vtVhl04nWbjSTyLO4tuAtyDCertJDsYQVLUtOEgDK2I1gscS5NaogyjFbgwaTRIP5MsYeGhIBx0artlXPTCM0VU1sq7MFHH/lthCdd6y3OfyYm51NdjLfnfWKHbhoPpts1SutRDtpFLBbAaLlqsmdT9qpvdrsNDTPk2tUzIxoCgLorCRMB3WnNORGGTNRi3wKlNQOhGQTvY2qR98jKaYOd8tw/gv0vBJ0++q+QlycHsUuQV9fqcYmc7xJ1l/hAvDL4uw01wdjTDr2fxl6PJcdxLtIeeoefoJcLoDTpGH9EJmiOKfqCf6Bf6HbwKvgbfgsUuNRj1NU/RwILiL7qz1xQ=</latexit>

2. Tourne le repère, maintenant aligné avec O-x1 y1 z1 , en utilisant R12


<latexit sha1_base64="oyrUZZjvN2JufU0GXYoDF4sr9AA=">AAACjnicbVHJbtswEKXVLVE3uz32ItQu0JMhGuhyKZogPeRSNC3iJIClGhQ1cgiLFEFSzkLwU3ptvil/E0rRoUo6AMGHN/u8TJZMmzi+HgQPHj56/GRrO3z67PmLl8PRqyNd1YrCnFZlpU4yoqFkAuaGmRJOpALCsxKOs/Ve4z/egNKsEofmQkLKyUqwglFiPLUcjiaTMNmAsb/cb7ychZPJcjiOp3Fr0X2AOzBGnR0sRwNI8orWHIShJdF6gWNpUkuUYbQEFya1Bknomqxg4aEgHHRq29ld9M4zeVRUyj9hopb9N8MSrvUFz3wkJ+ZU3/U15H99uW4K9rrbJkrpQvfZWq4UwLo/aL5hUnejnt/O2l/EFJ9Ty4SsDQjqoihMBJzRinMictuc1C1wahMQulbQNLY2ab6siMbYOV/tG/hzKfjuyd1SnpLMy9CGyEvq7I9D7GyLuLPML+KFwXdluA+OZlP8YRr/nI13Zp1EW+gNeoveI4w+oR20jw7QHFF0hv6gv+gqGAYfgy/B19vQYNDlvEY9C/ZvADo8yvY=</latexit>

<latexit sha1_base64="L4Jlv9K0iem1Jjsaoiakuho0oyU=">AAACqnicbVHLbtQwFPWEVwmPTmHJJmIGiQUdxZUQLItgwQZRUKctmkSR49xMrYkdy3aGmVr+Cr6GLXwFf4OTyYK0XOnKR+e+fXJZMW3i+M8ouHX7zt17e/fDBw8fPd4fHzw503WjKMxpXdXqIicaKiZgbpip4EIqIDyv4DxfvW/j52tQmtXi1GwlpJwsBSsZJcZT2fhwOg0TAxvTtbJ5RejK2c8dZQ/dJsPR1vtVhl04nWbjSTyLO4tuAtyDCertJDsYQVLUtOEgDK2I1gscS5NaogyjFbgwaTRIP5MsYeGhIBx0artlXPTCM0VU1sq7MFHH/lthCdd6y3OfyYm51NdjLfnfWKHbhoPpts1SutRDtpFLBbAaLlqsmdT9qpvdrsNDTPk2tUzIxoCgLorCRMB3WnNORGGTNRi3wKlNQOhGQTvY2qR98jKaYOd8tw/gv0vBJ0++q+QlycHsUuQV9fqcYmc7xJ1l/hAvDL4uw01wdjTDr2fxl6PJcdxLtIeeoefoJcLoDTpGH9EJmiOKfqCf6Bf6HbwKvgbfgsUuNRj1NU/RwILiL7qz1xQ=</latexit>

pour l’aligner avec O-x2 y2 z2


<latexit sha1_base64="39YoaAANIhDPZBbX3sCmH8h0vWQ=">AAACrHicbVHdbtMwFHbD3wg/6+CSm4gWiQsoSSUEl5vGBTeIIbXbpCaKHOeksxo7lu107Sw/xp6GW3iIvc2cNBdk40i2P33nO38+mSip0mF4M/AePHz0+MneU//Z8xcv94cHr05VVUsCc1KVlTzPsIKScphrqks4FxIwy0o4y1bHjf9sDVLRis/0VkDC8JLTghKsHZUOP43Hfqxho9tUJisxWVnzs6XMR7tJp/GHbXNdpVPrj8fpcBROwtaC+yDqwAh1dpIeDCDOK1Iz4JqUWKlFFAqdGCw1JSVYP64VCFcVL2HhIMcMVGLadmzwzjF5UFTSHa6Dlv03wmCm1JZlTsmwvlB3fQ35X1+umoS96qZRSVWoPluLpQRY9RvN11SortXNrtf+ILr4mhjKRa2BExsEfszhklSMYZ6beA3aLqLExMBVLaEpbEzcPFkRjCJrXbZv4L5Lwg9HHpXiAmegdxJxRdyGZpE1LWLWUDeIW0x0dw33wel0En2ehL+mo8OwW9EeeoPeovcoQl/QIfqOTtAcEXSNfqM/6K838Wbewkt2Um/QxbxGPfOKW+Nr1/s=</latexit>

Remarque [repère courant]:


• De façon générale, une rotation d’ensemble peut être exprimée comme
une sequence de n rotations partielles
<latexit sha1_base64="liD3qF0ROA8pQso50OrSVLeWu60=">AAACgnicbVFNb9QwEPWmn4RStuXIJWIXCXFYxVuhcuDQqhy4VBSp2620iSrHmWytjR3LdhZayz+iV/hl/Js6uzmQlpEsP715M/PsyWTJtInjv71gY3Nre2f3Rfhy79X+6/7B4ZWuakVhQquyUtcZ0VAyARPDTAnXUgHhWQnTbHHW5KdLUJpV4tLcSUg5mQtWMEqMp6bDYSjC4fCmP4hH8Sqi5wC3YIDauLg56EGSV7TmIAwtidYzHEuTWqIMoyW4MKk1SEIXZA4zDwXhoFO78uui957Jo6JS/ggTrdh/KyzhWt/xzCs5Mbf6aa4h/5vLddOwM902KqUL3WVrOVcAi67RfMmkbq3+WnvtPsQUn1PLhKwNCOqiKEwE/KQV50TkNlmCcTOc2gSErhU0g61NmisrogF2znf7Cv67FJx78rSUtyQDs5bIe+rs90vs7ApxZ5l/iF8MfrqG5+BqPMKfRvGP8eBk3K5oF71F79AHhNExOkHf0AWaIIoW6AH9Rn+CzeBjgIOjtTTotTVvUCeCL49uF8a6</latexit>

• Chaque rotation est définie par rapport à la précédente


• Le repère par rapport à lequel la rotation se produit est appelé repère courant
• La composition de rotations successives est obtenue par multiplication
à droite des matrices de rotation, en suivant l'ordre donné des rotations:

R0n = R01 R12 · · · Rnn 2


Rnn 1
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18
Composition de matrices de rotation
Remarque [repère fixe]:
• Les rotations successives peuvent aussi être specifiées toujours
par rapport au repère initial
• On dit que les rotations sont faites par rapport à un repère fixe
• La composition de rotations successives est obtenue par multiplication
à gauche des matrices de rotation en suivant l’ordre donné des rotations:

R0n = Rnn 1
Rnn 2
· · · R12 R01
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Remarque:
Conformément à notre notation, nous avons que:

Rji = (Rij )
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1
= (Rij )T

19
Composition de matrices de rotation
Problème fondamental: le produit matriciel n’est pas commutatif !
En général, deux rotations ne commutent pas et la composition dépend
de l’ordre de chaque rotation, à savoir:
<latexit sha1_base64="AKX4W2FX3k0FumysDa7TIbGRIJk=">AAACyHicbVFNb9QwEPWGrxK+tnDkErGLxKFaxStVcGwFBwRCFNRtK21C5DiTbbSx49rOtovlC/+IX4O4wT/ByQbRtIxk+fnNsz0zLxVloXQY/hx4N27eun1n665/7/6Dh4+G24+PVFVLCjNalZU8SYmCsuAw04Uu4URIICwt4Thdvm7yxyuQqqj4oV4LiBlZ8CIvKNGOSobvx2M/SqsLyEy0Am0+2y9hgqOdvwecTAN34nAW7QSXyH8KJ7dBEPjjcTIchZOwjeA6wB0YoS4Oku0BRFlFawZc05IoNceh0LEhUhe0BOtHtQJB6JIsYO4gJwxUbNqubfDcMVmQV9ItroOWvXzDEKbUmqVOyYg+VVdzDfnfXKaaB3u/m0YlVa76bC0WEmDZLzRbFUJ1pV5sau03ovNXsSm4qDVw6mbnu/Ge04oxwjcu2DmOTQRc1RKaj42Jmi3NgxG21r32Bty4JHxw5H4pTknqrGgl4iu15uMhtqZFzJrCNeKMwVdtuA6OphO8Owk/TUd7u51FW+gpeoZeIIxeoj30Fh2gGaLoO/qBfqHf3jtPeOfeeiP1Bt2dJ6gX3rc/S/XhPg==</latexit>

R01 R12 6= R12 R01


Exemple:
<latexit sha1_base64="YTK+4i+dMQkUkBXKGsCLhyThVzA=">AAAD+nicjVJbb9MwFE4bLlu47fLIS0YHGtLWxR23F6QheOAFMdC6TaqrynFOWqu5zXbKiuc/wxvilT/DM38EJw2s6QDNUpTjz5/P+b5z7GcRE9LzfjSa9rXrN24uLTu3bt+5e29lde1IpDmn0KVplPITnwiIWAJdyWQEJxkHEvsRHPvj18X58QS4YGlyKKcZ9GMyTFjIKJEGGqw2zjc3HTwBqT7qwdkWztjuk8cu3n6Jtx0cQSh7eMPBPgxZogjnZKoVpVQ7yH3kesWHJyIjFJTXRojGGmOngLE45VJ19G7HbHYudnPsvX+w/0fGkASVDAdvYM6GI9nfxqc5CdzfJqaliWdXMTErtTerWwhBtaJzftCC1UrPDvpz9SLXFWU7pvGDlZbX9srlXg5QFbSsah2YeQEOUprHkEgaESF6yMtk3ySXjEZg0ucCTPUxGULPhAmJQfRV+U60+9AggRum3HyJdEt0/oYisRDT2DfMmMiRWDwrwL+eBaJIWKuuChYXoaijeTbkAOO60GDCMlFJPZtprRuR4Yu+YkmWS0iodl0HJ/CJpnFMTGOLwese6ivTZpFzKAorhYufH7otpLXJ9gZMuzi8M+CrKBsR3zyWkpJ9plq9P0RalVGsFTNGzGDQ4hguB0edNnra9j50WvudakRL1n3rgbVlIeu5tW+9tQ6srkUbP5vLzbXmun1uf7G/2t9m1GajurNu1Zb9/Rc2mkFd</latexit>

2 3 2p 3
1 0 0 3/2 0 1/2
6 p p 7 6 7
Rx (⇡/4) = 6
4
0 2/2 2/2 7 ,
5 Ry (⇡/6) = 6
4
0 1 0 7
5
p p p
0 2/2 2/2 1/2 0 3/2
<latexit sha1_base64="KolJHG6sJWITwqGi8dpHqRo4ocU=">AAADYXicbVJLb9NAEF4nPFrzSsuxF5cU1EptYodSuCAVwQEhIQpq2krZKFpvxskqfiy769B0tT+UM/wQ1o4RccNIlme+mfl2XiGPmVS+/9NpNO/cvXd/Y9N98PDR4yetre0LmeWCQp9mcSauQiIhZin0FVMxXHEBJAljuAxn7wv/5RyEZFl6rhYchgmZpCxilCgLjVq/9/ZcPAelv5nRYh9z1j05wId/kesSOT7w8OFbfOjiGCI1wLsuDmHCUk2EIAujKaXGxfK7UPql6fa8F97S6Jnucc3Ac8kJBe13glc0MRi7/qq/yDz6Z61HHwUr7Cer7IXhYkjHVU0u3sWCTaZq6NoGR6223/FL8daVoFLaqJKz0ZYDeJzRPIFU0ZhIOQh8roaWXDEag6XPJdjiZmQCA6umJAE51OU6jPfcImMvyoT9UuWV6GqGJomUiyS0kQlRU3nbV4D/9Y1lQVh7XRdRQkayjuZ8IgBm9ULHc8ZlVer1stZ6Iyp6M9Qs5bmClBrPc3EKP2iWJMQOtrgJMwiG2o5Z5gKKh7XGxS+MvHZgjGX7AHZcAj5b8F3MpyS0d1SG8Btq9JfzwOhSS4xmthG7mOD2GtaVi569gI7/tdc+7VUr2kA76BnaRwF6jU7RR3SG+og6nxzuLJybxq/mZrPV3F6GNpwq5ymqSXPnD0S1EQo=</latexit>

2p p p 3
3/2 2/4 2/4
6 p p 7
Ry (⇡/6) Rx (⇡/4) = 4 0 2/2 2/2 5
p p
1/2 6= 6/4 6/4
<latexit sha1_base64="sd5OKEiFBGQB23pEsnZi+ftD4s8=">AAAChXicbVFNT9swGHYzNqCMAdtxl4gWiQtVUsE2cQG0HbggQKKAaCLkOG+K1djxbKd8WP4Xu47/xb/BaXMgwCtZfvS8z/udiJwqHQRPLe/D3MdP8wuL7aXPy19WVte+nquilAQGpMgLeZlgBTnlMNBU53ApJGCW5HCRjH9X/osJSEULfqbvBcQMjzjNKMHaUVfdbjvi8Lfd7V6vdoJeMDX/LQhr0EG1nVyvtSBKC1Iy4JrkWKlhGAgdGyw1JTnYdlQqEJiM8QiGDnLMQMVm2rL1NxyT+lkh3ePan7IvIwxmSt2zxCkZ1jfqta8i3/WlqkrYqG4qlVSZarKlGEmAcbPRdEKFqlu9m/XaHERnv2JDuSg1cGJ9v9rfLSkYwzw10QS0HYaxiYCrUkJV2Jio+pLM74TWumx/wK1LwpEjD3JxgxPQM4l4INYcn4XWTBGzhrpB3GHC12d4C877vXCnF5z2O/u79YkW0He0jjZRiH6ifXSITtAAEcTRP/QfPXrz3pa37f2YSb1WHfMNNczbewZoz8gS</latexit>

<latexit sha1_base64="qSmh1xTrZ4SOkhdJkJKXSz+WbfA=">AAADYXicdVJbb9MwFHZaLlu4rBuPe8noQJu0tUkYgxekIXhASIiB1m1SXVWOe9JazcXYTlln+YfyDD8EJw2XrnAky8ffOd/xuUU8YVL5/jen0bx1+87dtXX33v0HDzdam1vnMi8EhR7Nk1xcRkRCwjLoKaYSuOQCSBolcBFN35T2ixkIyfLsTM05DFIyzljMKFEWGrZ+7O66eAZKfzbDqz3MWfdoHx/8QuYVcrzv4YNX+MDFCcSqj3dcHMGYZZoIQeZGU0qNi+UXofQz0w29p55vT9AN8UxyQkH7neA5TQ3GtVdoukfW4/ejpBwuXsfWtEo7/D/vD83FkI3qnFy8gwUbT9TAtQUOW22/41firSpBrbRRLafDTQfwKKdFCpmiCZGyH/hcDWxwxWgCNnwhweY4JWPoWzUjKciBrsZhvCcWGXlxLuzJlFehfzM0SaWcp5H1TImayJu2EvynbSTLgEu/69JLyFguowUfC4DpcqKjGeOyTvVqketyISp+OdAs44WCjBrPc3EGX2mepsQ2ttwJ0w8G2rZZFgLKj7XG5RXFXjswxkZ7C7ZdAj5Y8HXCJySye1S58Gtq9MezwOhKS41mthA7mODmGFaV89AuQsf/FLZPwnpEa2gbPUZ7KEAv0Al6h05RD1HnvcOduXPd+N5cb7aaWwvXhlNzHqElaW7/BPI/EQo=</latexit>

2 p 3
3/2 0 1/2
6 p p p 7
Rx (⇡/4) Ry (⇡/6) = 4 2/4 2/2 6/4 5
p p p
2/4 2/2 6/4
20
21

6=
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• Rotations successives d'un objet autour des axes du repère courant
Composition de matrices de rotation

b)
a)
22

6=
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• Rotations successives d'un objet autour des axes du repère fixe
Composition de matrices de rotation

b)
a)
Représentations de l’orientation
• Les matrices de rotation fournissent une description redondante
de l’orientation d’un corps

• En effet, une matrice de rotation R comprend 9 éléments:


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<latexit sha1_base64="qBEK4pRtmGaCEuGWJ7VRS4zWKOs=">AAADKnicbVLLjtMwFHXCawivDrNkY9GCWFRVnAoBC6SBYcEGMaB5SXVUOe5NazVOItspM1j+I/gZdiO2fAhOp0V0Zq5k+ejc4/t0VhdCmzg+D8IbN2/dvrN1N7p3/8HDR53tx0e6ahSHQ14VlTrJmIZClHBohCngpFbAZFbAcTbfa/3HC1BaVOWBOashlWxailxwZjw17vzs9SK6AGO/Okz7b2kf0wJyM6L9iGYwFaWVzChx6iI1toQ4/By3IFmDoaMLXTMONh4QLh2lrTBZC5O1MLleOFwLh2vhcOgiCuXkX17ap0pMZyaNer1xpxsP4qXhq4CsQBetbH+8HQCdVLyRUBpeMK1HJK5NapkyghfgozcafFVzNoWRhyWToFO7nKvDzzwzwXml/CkNXrL/v7BMan0mM6/01c70ZV9LXuub6DbgRva235nSud5km3qqAOabhU4WotarUk8vat1sxOSvUyvKujFQcodxREv4xispmR9su243Iqn1Y9aNgjaxtbS9shx3iXM+2gfw41LwyZPvinrGMv9FlpL6O3f28wFxdomks8I34hdDLq/hKjhKBuTlIP6SdHeT1Yq20BP0FL1ABL1Cu+gj2keHiAc7wZvgfbAX/gh/hefh7wtpGKze7KANC//8BUQPAPQ=</latexit>

2 3
r11 r12 r13
6 7
R = 4 r21 r22 r23 5
r31 r32 r33
• Toutefois nous avons 6 relations indépendantes entre ces éléments
(les contraintes d’orthogonalité et de normalité des colonnes de R):
<latexit sha1_base64="mK4JozKFwenocPb/DymukV0oy4s=">AAACiHicbVHLTtwwFPUESmloeS67iZhB6mqUgBBlR4EFm6qAGECaRMhxbgZrYsfYzhSw/B3dls/q39QJWRDgSpaPzn3fk4qCKh2G/3re3PyHhY+Ln/ylz1+WV1bX1i9VWUkCI1IWpbxOsYKCchhpqgu4FhIwSwu4SqdHtf9qBlLRkl/oBwEJwxNOc0qwdlQyGPjxDLQ5t/5gcLPaD4dhY8FbELWgj1o7vVnrQZyVpGLANSmwUuMoFDoxWGpKCrB+XCkQmEzxBMYOcsxAJaaZ2gZbjsmCvJTucR007MsMg5lSDyx1kQzrW/XaV5Pv+jJVF+x0N3WUVLnqspWYSIBpd9BsRoVqR71/nrW7iM6/J4ZyUWngxAaBH3P4TUrGMM9MfU47jhITA1eVhLqxMXH9pXnQj6x11Y7BnUvCT0f+KMQtTp0ETYh4JNb8uoisaRCzhrpFnDDRaxnegsvtYbQ7DM+2+wc7rUSL6CvaRN9QhPbQATpBp2iECLpDf9Bf9OT5XujtefvPoV6vzdlAHfMO/wOsy8l+</latexit>

2 2 2
<latexit sha1_base64="MXL2hKUGa5mQcfsGlmhC0sJTqkY=">AAADNnichVFNbxMxEPUuX2X5SuHIgRUJEhJVtE5A7QWpCJC4QIvUtJXiEHmdSWpl7V3Z3kCw/L/gp3DhhrjyE/BuVgppKzGS5ac388bPM2mRcW2S5EcQXrl67fqNrZvRrdt37t5rbd8/1nmpGAxYnuXqNKUaMi5hYLjJ4LRQQEWawUk6f13lTxagNM/lkVkWMBJ0JvmUM2o8NW5973QiksKMS0uVoktnmYvU2GLsPvXiZ7GHvTXs15DsvCQ7MSYLXVAGNuniF0w4Qmpdb61bw37/v7r+Wte/XBcRkJPGZdTpjFvtpJvUEV8EuAFt1MTheDsAMslZKUAallGthzgpzMh3NJxl4CJSavDO5nQGQw8lFaBHtp6xi594ZhJPc+WPNHHN/quwVGi9FKmvFNSc6fO5irw0N9FVw43XbVWl9FRvsmUxUwDzTaOTBS90Y/XLyuvmR8x0b2S5LEoDkrk4joiEzywXgvppkgUYN8Qj62erSwXVw9aS6kqncRs757u9AT8uBe89+SorzmgKZlVSfGXOHhxhZ2sknOX+I34x+PwaLoLjnl9/N/nYa+8/b1a0hR6ix+gpwmgX7aN36BANEAseBW+DD8FB+C38Gf4Kf69Kw6DRPEAbEf75C8FdAdE=</latexit>

r11 r12 + r21 r22 + r31 r32 = 0 r11 + r21 + r31 = 1


<latexit sha1_base64="tWR8dFczXnCeIarSl8R4JQHGGJw=">AAADWnichVFdb9MwFHVaPrYMWAe88RLRIiExVXEKghekofHAC2JI6zaprirHve2sxk5kO4Vi+YciwX/BSYO0dEhcKfG5514f34+0yLg2cfwz6HTv3L13f28/PHjw8NFh7+jxhc5LxWDM8ixXVynVkHEJY8NNBleFAirSDC7T1WkVv1yD0jyX52ZTwFTQpeQLzqjx1Kz3ezAISQpLLi1Vim6cZS5UM4uxq/6Ji15FHiS1m/x1R7U78i45fk+Oo5isdUEZ2HiIMROOkBsao7bGqK0x+o9G0tZI2hrJjkZIQM6bTsLBYNbrx8O4tug2wA3oo8bOZkcBkHnOSgHSsIxqPcFxYaZe0XCWgQtJqcFXuaJLmHgoqQA9tfUeXPTCM/NokSv/SRPV7M0blgqtNyL1mYKaa70bq8h/xua6Emy9bqsspRe6zZbFUgGs2oXO17zQTanft7W2GzGLd1PLZVEakMxFUUgkfGO5ENRPk6zBuAmeWj9bXSqoHraWVEe6iPrYOa/2Efy4FHz25IesuKYpmG1K8YM5++UcO1sj4Sz3jfjF4N013AYXyRC/GcZfk/7J62ZFe+gZeo5eIozeohP0CZ2hMWLBacADFejOr26nu9892KZ2gubOE9Sy7tM/fQENtg==</latexit>

2 2 2
r11 r13 + r21 r23 + r31 r33 = 0 r12 + r22 + r33 = 1
r12 r13 + r22 r23 + r32 r33 = 0 2 2 2
r13 + r23 + r33 = 1

Conclusion: 3 paramètres sont suffisants pour décrire l'orientation d'un corps

Une représentation de l'orientation en fonction de 3 paramètres indépendants


est dite représentation minimale
23
Représentations de l’orientation
• Une représentation minimale de l’orientation peut être obtenue
en utilisant un ensemble de trois angles: = [', ✓, ]T
<latexit sha1_base64="GPP/wCrxe5/+gnbXHb0PESgAkr4=">AAACq3icbVHdbtMwFHbD3wg/68YlNxEtEhejSiohuJm0aVxwgxii3SbqUDnOSWs1dizb6dgsvwVPwy28BG+D0+aCbBzpyJ++850/n0yWTJs4/tML7ty9d//BzsPw0eMnT3f7e/tnuqoVhSmtykpdZERDyQRMDTMlXEgFhGclnGerkyZ+vgalWSUm5kpCyslCsIJRYjw174+GwxBLnlksl8xFh9EMr4ny+AAfYLMEQxogNUu/TcLhcN4fxKN4Y9FtkLRggFo7ne/1AOcVrTkIQ0ui9SyJpUktUYbRElyIaw2S0BVZwMxDQTjo1G4Wc9FLz+RRUSnvwkQb9t8MS7jWVzzzSk7MUt+MNeR/Y7luCna620aldKG7bC0XCmDVHTRfM6nbUb9vZ+0uYop3qWVC1gYEdVEUYgGXtOKciNziNRg3S1KLQehaQdPYWtw8WRENEud8tffgv0vBR08el3JJMjBbibymzn6aJM5uEHeW+UX8YZKbZ7gNzsaj5M0o/jweHI3bE+2g5+gFeoUS9BYdoQ/oFE0RRT/QT/QL/Q5eB1+CrwHeSoNem/MMdSyAv4P71oI=</latexit>

• Une matrice de rotation générique peut être obtenue en composant


une séquence opportune de 3 rotations élémentaires (Théor. d’Euler, 1776)
Attention: il faut garantir que deux rotations successives ne sont pas
faites autour d’axes parallèles

Cela veut dire que 12 ensembles différents d’angles sont


admissibles parmi les 33 = 27 combinaisons possibles:
ZXZ, XYX, YZY, ZYZ, XZX, YXY (angles « propres »)
XYZ, YZX, ZXY, XZY, ZYX, YXZ (angles de Tait-Bryan)
Chaque ensemble constitue un triplet d’angles d’Euler

Leonhard Euler
(1707–1783)
Deux triplets d’angles d’Euler très utilisés sont:
1. Les angles ZYZ
2. Les angles ZYX ou angles roulis-tangage-lacet
(roll-pitch-yaw, en anglais)
24
Angles roulis-tangage-lacet
• Représentation de l'orientation utilisée en (aéro)nautique pour
décrire l’attitude d’un avion

• Les angles (', ✓, ) représentent des rotations définies dans un repère


<latexit sha1_base64="Rzs/H9sJTjW9DoXBU8ozYX//i+k=">AAACnHicbVFba9swFFa8W+ddmm6Pg80sGXRQgh0Y22PL+jAYZR00aSEyQZaPExFLFpKcXoQe92v2uv2Y/ZvJiR/mdgcO+vjOd246mSyZNnH8pxfcu//g4aOdx+GTp8+e7/b3Xkx1VSsKE1qVlbrIiIaSCZgYZkq4kAoIz0o4z1afm/j5GpRmlTgz1xJSThaCFYwS46l5/81wGO7jNVFyyQ7wATZLMKQBUrP34XA47w/iUbyx6C5IWjBArZ3O93qA84rWHIShJdF6lsTSpJYow2gJLsS1Bknoiixg5qEgHHRqN5u46J1n8qiolHdhog37b4YlXOtrnnklJ2apb8ca8r+xXDcFO91to1K60F22lgsFsOoOmq+Z1O2oV9tZu4uY4lNqmZC1AUFdFIVYwCWtOCcit3gNxs2S1GIQulbQNLYWN09WRIPEOV/tGPx3KTjx5FEplyQDs5XIG+rst7PE2Q3izjK/iD9McvsMd8F0PEo+jOLv48HhuD3RDnqF3qJ9lKCP6BB9Qadogij6gX6iX+h38Do4Dr4GJ1tp0GtzXqKOBdO/aSbQJg==</latexit>

fixe attaché au centre de masse de l’avion


x
<latexit sha1_base64="Tb/n/JgogXgVineBfX+uL8f+dmU=">AAACgnicbVHBTtwwEPWmFGhaKLTHXqLuIiEOqxiEyoHDVu2hF1QqsSzSJkKOM1msjR3Ldpallj+i1/bL+jc4uzk00JEsP715M/PsyWTJtInjv73gxcbLza3tV+HrNzu7b/f2313rqlYUxrQqK3WTEQ0lEzA2zJRwIxUQnpUwyeZfmvxkAUqzSlyZBwkpJzPBCkaJ8dRkMAiX4WBwu9ePh/EqoucAt6CP2ri83e9Bkle05iAMLYnWUxxLk1qiDKMluDCpNUhC52QGUw8F4aBTu/LrogPP5FFRKX+EiVbsvxWWcK0feOaVnJg7/TTXkP/N5bpp2JluG5XShe6ytZwpgHnXaL5gUrdWl2uv3YeY4iy1TMjagKAuisJEwD2tOCcit8kCjJvi1CYgdK2gGWxt0lxZEfWxc77bV/DfpeDCk59LeUcyMGuJ/Emd/X6FnV0h7izzD/GLwU/X8BxcHw/x6TD+cdwfnbYr2kYf0Ed0iDD6hEboG7pEY0TRHP1Cv9GfYCM4CnBwspYGvbbmPepEcP4IhAzGxw==</latexit>

<latexit sha1_base64="njjU6bS7roHPWQZ92yPi5jGrh3Q=">AAAChXicbVFNT9wwEPWmtED6Be2RS8RupV66ShBtuUHVHnqpAIkF1E2EHGeyWBs7lsfZllr+F722/6v/ps5uDgQYyfLTmzczz55cVRxNHP8bBI/WHj9Z39gMnz57/uLl1varc6wbzWDC6qrWlzlFqLiEieGmgkulgYq8got8/rnNXyxAI6/lmblRkAk6k7zkjBpPfR+NwlQhD0ejq61hPI6XEd0HSQeGpIuTq+0BpEXNGgHSsIoiTpNYmcxSbTirwIVpg6Aom9MZTD2UVABmdmnZRW88U0Rlrf2RJlqytyssFYg3IvdKQc013s215IO5AtuGvem2VWkssc82aqYB5n2jxYIr7Kz+XHntP8SUB5nlUjUGJHNRFKYSfrBaCCoLmy7AuGmS2RQkNhrawdam7ZWX0TBxznf7Av67NHzz5KdKXdMczEqifjFnj88SZ5dIOMv9Q/xikrtruA/O98bJ+3F8ujc82u9WtEF2yC55SxLykRyRr+SETAgjkvwmf8jfYD14F+wHH1bSYNDVvCa9CA7/A3fryBQ=</latexit>

Lacet ou cap
(yaw)


<latexit sha1_base64="9i66ZxqWJuRfx7hTV81rEmOKNaI=">AAACh3icbVFNT9wwEPWmQCFQPsqRS8QuEqdtgqBwBJVDLxUgsYC0iZDjTHatjR3LdpYPy3+jV/hb/Td1dnMgwEiWn968mXn2pKKgSofhv473ZWFx6evyir+69m19Y3Pr+40qK0lgQMqilHcpVlBQDgNNdQF3QgJmaQG36eRXnb+dglS05Nf6SUDC8IjTnBKsHRX3en6sx6Cx3+vdb3bDfjiL4COIGtBFTVzeb3UgzkpSMeCaFFipYRQKnRgsNSUFWD+uFAhMJngEQwc5ZqASMzNtgz3HZEFeSne4Dmbs2wqDmVJPLHVKhvVYvc/V5Ke5TNUNW9NNrZIqV222EiMJMGkbzaZUqMbq49xr+yE6P0kM5aLSwIkNAj/m8EBKxjDPTDwFbYdRYmLgqpJQDzYmrq80D7qRta7bObjvkvDHkWeFGOMU9Fwinok1F9eRNTPErKHuIW4x0fs1fAQ3B/3oqB9eHXRPD5sVLaMdtIv2UYSO0Sn6jS7RABEk0F/0gl69Fe+H99M7mUu9TlOzjVrhnf0HcLzI8g==</latexit>

'
<latexit sha1_base64="XcTxyY2YNiFGJ/BB+z6EED5H9Vg=">AAACiHicbVFNT9wwEPWGj9JQKB/HXiJ2kXpaJajVtje+Dr0gQGIBaRMhx5nsWhs7ru1sAcu/g2v7s/pvcHZzIMBIlp/evJl59qSioEqH4f+Ot7S8svph7aO//mlj8/PW9s61KitJYEjKopS3KVZQUA5DTXUBt0ICZmkBN+n0pM7fzEAqWvIr/SAgYXjMaU4J1o5Kej0/nmEpJtTv9e62umE/nEfwFkQN6KImLu62OxBnJakYcE0KrNQoCoVODJaakgKsH1cKBCZTPIaRgxwzUImZu7bBvmOyIC+lO1wHc/ZlhcFMqQeWOiXDeqJe52ry3Vym6oat6aZWSZWrNluJsQSYto1mMypUY/V+4bX9EJ3/SAzlotLAiQ0CP+bwh5SMYZ6ZeAbajqLExMBVJaEebExcX2kedCNrXbdTcN8l4cyRR4WY4BT0QiIeiTXnV5E1c8Ssoe4hbjHR6zW8BdcH/eh7P7w86B5+a1a0hr6gPfQVRWiADtEvdIGGiKDf6An9Rf883wu9gfdzIfU6Tc0uaoV3/AyNbclw</latexit>

y
<latexit sha1_base64="WIhKuqdFcY5yOIBIoe/a1wH4+Jg=">AAACgnicbVFNbxMxEHW2hZblKy1HLisSJMQhWhdF5cChFRy4VBSpaSplV5XXO5tYWXst2xtILf8IrvDL+Df1JntgU0ay/PTmzcyzJ5Ml0yaO//aCvf1Hjw8On4RPnz1/8bJ/dHytq1pRmNCqrNRNRjSUTMDEMFPCjVRAeFbCNFt+bvLTFSjNKnFl1hJSTuaCFYwS46npcBiuw+Hwtj+IR/EmoocAt2CA2ri8PepBkle05iAMLYnWMxxLk1qiDKMluDCpNUhCl2QOMw8F4aBTu/HroreeyaOiUv4IE23Yfyss4VqveeaVnJiF3s015H9zuW4adqbbRqV0obtsLecKYNk1mq+Y1K3Vn1uv3YeY4mNqmZC1AUFdFIWJgB+04pyI3CYrMG6GU5uA0LWCZrC1SXNlRTTAzvluX8B/l4ILT56XckEyMFuJvKPOfrvCzm4Qd5b5h/jF4N01PATXJyM8HsXfTwZn43ZFh+g1eoPeIYxO0Rn6ii7RBFG0RL/Qb/Qn2A/eBzj4sJUGvbbmFepE8OkehifGyA==</latexit>

z
Tangage ou
<latexit sha1_base64="JXz6HGCnnc2X6DLTEx5N1T9ELqY=">AAACgnicbVHBTtwwEPWmFGhaKLTHXqLuIiEOqxiEyoHDovbQS1UqsSzSJkKOM1msjR3LdhYWyx/Ra/tl/Zs6uzk00JEsP715M/PsyWTJtInjP73gxcbLza3tV+HrNzu7b/f2313rqlYUxrQqK3WTEQ0lEzA2zJRwIxUQnpUwyeafm/xkAUqzSlyZpYSUk5lgBaPEeGoyGISP4WBwu9ePh/EqoucAt6CP2ri83e9Bkle05iAMLYnWUxxLk1qiDKMluDCpNUhC52QGUw8F4aBTu/LrogPP5FFRKX+EiVbsvxWWcK2XPPNKTsydfppryP/mct007Ey3jUrpQnfZWs4UwLxrNF8wqVurD2uv3YeY4iy1TMjagKAuisJEwD2tOCcit8kCjJvi1CYgdK2gGWxt0lxZEfWxc77bF/DfpeCbJy9KeUcyMGuJfKTOfr/Czq4Qd5b5h/jF4KdreA6uj4f4dBj/OO6PTtsVbaMP6CM6RBh9QiP0FV2iMaJojn6iX+h3sBEcBTg4WUuDXlvzHnUiOP8LiELGyQ==</latexit>

assiette roulis (roll)


(pitch)
25
Angles roulis-tangage-lacet
La rotation décrite par les angles de roulis, tangage et lacet est obtenue
comme la composition de 3 rotations élémentaires:

• Tourner le repère d’un angle autour de l’axe x (lacet):


<latexit sha1_base64="vW4EhY0AweEW3qVAo0/gFu2ObEo=">AAAChXicbVFNb9QwEPWmQEv46AdHLhG7SFxYJasWuFFED70gitRtKzZR5TiTrbWxY3mchWL5X3Cl/6v/Bmc3B9IykuWnN29mnj25qjiaOL4dBBsPHj7a3HocPnn67Pn2zu7eGdaNZjBldVXri5wiVFzC1HBTwYXSQEVewXm++Nzmz5egkdfy1FwryASdS15yRo2nvo9GYaqQh6PR5c4wHseriO6DpAND0sXJ5e4A0qJmjQBpWEURZ0msTGapNpxV4MK0QVCULegcZh5KKgAzu7LsoteeKaKy1v5IE63YfyssFYjXIvdKQc0V3s215H9zBbYNe9Ntq9JYYp9t1FwDLPpGiyVX2Fn9ufbaf4gpP2SWS9UYkMxFUZhK+MFqIagsbLoE42ZJZlOQ2GhoB1ubtldeRsPEOd/tCPx3afjiyU+VuqI5mLVE/WLOfj1NnF0h4Sz3D/GLSe6u4T44m4yTg3H8bTI8nHQr2iIvySvyhiTkPTkkx+SETAkjkvwmf8hNsBm8DfaDd2tpMOhqXpBeBB//AndRyBI=</latexit>

<latexit sha1_base64="sjriyuknAAj+Nah+jm16UmOPVQ0=">AAACgnicbVFNb9QwEPWmBUr46seRS8QuEuKwihchOHBoBYdeEEXaj0qbqHKcya61sWPZztLW8o/gSn9Z/w3Obg5ky0iWn968mXn2ZLJk2sTxfS/Y23/0+MnB0/DZ8xcvXx0eHU91VSsKE1qVlbrMiIaSCZgYZkq4lAoIz0qYZauvTX62BqVZJcbmRkLKyUKwglFiPDUbDMLrcDC4OuzHw3gT0UOAW9BHbVxcHfUgyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KAuYeCcNCp3fh10VvP5FFRKX+EiTbsvxWWcK1veOaVnJil3s015H9zuW4adqbbRqV0obtsLRcKYNU1mq+Z1K3V663X7kNM8Tm1TMjagKAuisJEwC9acU5EbpM1GDfHqU1A6FpBM9japLmyIupj53y3b+C/S8F3T56VckkyMFuJvKXO/hhjZzeIO8v8Q/xi8O4aHoLpaIg/DuOfo/7pqF3RAXqN3qB3CKNP6BSdows0QRSt0G/0B90F+8H7AAcfttKg19acoE4EX/4CgyXGxA==</latexit>

rotation définie par Rx ( )


<latexit sha1_base64="/NM1OTwOi50uleywGUPex30YOZo=">AAACknicbVHLbtQwFPUEWkpa2imPFZuImUplM4orIRCrVmXBAkRBnbbSJBo5zs2MNbFj2c7QYvlj2MIX8Tc4aRak5UqWj85935PJkmkTx38GwYOHG5uPth6H2ztPdveG+08vdFUrClNalZW6yoiGkgmYGmZKuJIKCM9KuMxWp43/cg1Ks0qcmxsJKScLwQpGifHUfPhiPA6TNRj7zc2vDxOp2etwPJ4PR/Ekbi26D3AHRqizs/n+AJK8ojUHYWhJtJ7hWJrUEmUYLcGFSa1BEroiC5h5KAgHndp2fhcdeCaPikr5J0zUsv9mWMK1vuGZj+TELPVdX0P+15frpmCvu22ilC50n63lQgGs+oPmayZ1N+r17az9RUzxLrVMyNqAoC6KwkTAd1pxTkRum7O6GU5tAkLXCprG1ibNlxXRCDvnq30Afy4Fnz15UsolybwUbYj8QZ39co6dbRF3lvlFvDD4rgz3wcXRBL+ZxF+PRse4k2gLvUSv0CHC6C06Rh/RGZoiiiz6iX6h38Hz4H1wEpzehgaDLucZ6lnw6S90JMzN</latexit>

• Tourner le repère d’un angle ✓ autour de l’axe y (tangage):


<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>

rotation définie par Ry (✓)


<latexit sha1_base64="f8e49uCVqY1Yi4gWz9RtnX3Zi/8=">AAAClHicbVHLbtQwFPWER0t4TUGCBZuIGaSyGcWVULvooqggsQEK6rSVJtHIcW5mrIkdy3YGBstf0235IP4GJ82CtFzJ8tG5574zWTJt4vjPILhz9979re0H4cNHj588He48O9NVrShMaVVW6iIjGkomYGqYKeFCKiA8K+E8Wx03/vM1KM0qcWo2ElJOFoIVjBLjqfnw5XgcJmsw9rubb3YTswRD3obj8Xw4iidxa9FtgDswQp2dzHcGkOQVrTkIQ0ui9QzH0qSWKMNoCS5Mag2S0BVZwMxDQTjo1LYTuOiNZ/KoqJR/wkQt+2+EJVzrDc+8khOz1Dd9DflfX66bhL3qtlEpXeg+W8uFAlj1G83XTOqu1Z/XvfYHMcVBapmQtQFBXRSFiYAftOKciNw2i3UznNoEhK4VNIWtTZovK6IRds5n+wB+XQo+e/J9KZck88doJfIXdfbrKXa2RdxZ5gfxh8E3z3AbnO1N8LtJ/G1vdIS7E22jV+g12kUY7aMj9AmdoCmiyKFLdIV+By+Cw+A4+HgtDQZdzHPUs+DLX3g0zaw=</latexit>

• Tourner le repère d’un angle ' autour de l’axe z (roulis):


<latexit sha1_base64="rfflSFZupyg2csZUNIyE2ejwnn4=">AAACiHicbVFNT+MwEHWzsAthWWA5colokfZUJZVQ4cZ+HLggQKKA1ETIcSat1dgxtlNgLf+Ove7+rP03OG0OBBjJ8tObNzPPnlQUVOkw/N/xPqysfvy0tu5vfN78srW98/ValZUkMCJlUcrbFCsoKIeRprqAWyEBs7SAm3T2s87fzEEqWvIr/SQgYXjCaU4J1o5Kej0/nmMpptTv9e62u2E/XETwFkQN6KImLu52OhBnJakYcE0KrNQ4CoVODJaakgKsH1cKBCYzPIGxgxwzUIlZuLbBgWOyIC+lO1wHC/ZlhcFMqSeWOiXDeqpe52ry3Vym6oat6aZWSZWrNluJiQSYtY1mcypUY/Vx6bX9EJ0fJYZyUWngxAaBH3N4ICVjmGcmnoO24ygxMXBVSagHGxPXV5oH3cha1+0XuO+ScObI74WY4hT0UiJ+E2vOryJrFohZQ91D3GKi12t4C64H/eiwH14OuieDZkVraA/to28oQkN0gk7RBRohgu7RH/QX/fN8L/SG3vFS6nWaml3UCu/HM4zTyW4=</latexit>

<latexit sha1_base64="bEZXBmRW089ZJUT8u3/K85hBqGw=">AAACgnicbVHBTtwwEPWmFGhaYGmPvUTdRUIcVvGiqhw4UNFDL1WpxLJImwg5zmSxNnYs21kKlj+Ca/tl/Zs6uzk00JEsP715M/PsyWTJtInjP73gxcbLza3tV+HrNzu7e/39t1e6qhWFCa3KSl1nREPJBEwMMyVcSwWEZyVMs8V5k58uQWlWiUtzLyHlZC5YwSgxnpoOh+FDOBze9AfxKF5F9BzgFgxQGxc3+z1I8orWHIShJdF6hmNpUkuUYbQEFya1Bknogsxh5qEgHHRqV35ddOCZPCoq5Y8w0Yr9t8ISrvU9z7ySE3Orn+Ya8r+5XDcNO9Nto1K60F22lnMFsOgazZdM6tbqz7XX7kNMcZJaJmRtQFAXRWEi4I5WnBOR22QJxs1wahMQulbQDLY2aa6siAbYOd/tC/jvUvDNk59LeUsyMGuJfKDOfr/Ezq4Qd5b5h/jF4KdreA6uxiP8cRT/GA/Oxu2KttF79AEdIow+oTP0FV2gCaJogR7RL/Q72AiOAhwcr6VBr615hzoRnP4Fh1vGxg==</latexit>

rotation définie par Rz (')


<latexit sha1_base64="le2skQgrDBQysFYaahcVQTm+avI=">AAAClXicbVHLbtQwFPWER0t4TcsCJDYRM0hlM4oroXZTqYgKsUEtqNNWmkQjx7mZsSZ2LNuZ0lrma9jC//A3OGkWpOVKlo/OPfedyZJpE8d/BsG9+w8ebmw+Ch8/efrs+XBr+0xXtaIwpVVZqYuMaCiZgKlhpoQLqYDwrITzbPWx8Z+vQWlWiVNzJSHlZCFYwSgxnpoPX43HYbIGY7+5+fVOsiZKLtm7cDyeD0fxJG4tugtwB0aos5P51gCSvKI1B2FoSbSe4Via1BJlGC3BhUmtQRK6IguYeSgIB53adgQXvfVMHhWV8k+YqGX/jbCEa33FM6/kxCz1bV9D/teX6yZhr7ptVEoXus/WcqEAVv1G8zWTumv1+02v/UFMsZ9aJmRtQFAXRWEi4JJWnBOR22azboZTm4DQtYKmsLVJ82VFNMLO+WxH4Nel4IsnP5RySTJ/jVYir6mzx6fY2RZxZ5kfxB8G3z7DXXC2O8HvJ/HX3dEh7k60iV6jN2gHYbSHDtFndIKmiKIf6Cf6hX4HL4OD4Cj4dCMNBl3MC9Sz4Pgvm6fOKw==</latexit>

L’orientation résultante du repère est obtenue en composant les rotations


par rapport au repère fixe, et peut être calculée en multipliant à gauche
les matrices de rotation élémentaires:
<latexit sha1_base64="5+fG77D9mnEZn755yLgw3ddwcps=">AAAEcnicjVNNbxMxEHXSAGX5auEGF4cElKpptBsJwQWpCA5cEAU1baU4irze2cTKfsl2QlPLB67wC/kf/QF4l21I0hQx0sqjNzPPzzOzfhZxqVz3V6W6Vbt1+872Xefe/QcPH+3sPj6R6VQw6LE0SsWZTyVEPIGe4iqCs0wAjf0ITv3J+zx+OgMheZocq3kGg5iOEh5yRpWFhruVy2bTITNQ+qtpET+NAjmP7aFJNuZmD5P2W9LGZcLwokVmVNjIHmlfYfMWUWNQdAk6b5FM8kVxBKHqk7pDfBjxRFMh6Nxoxphx2FCXjCZ3CyKDX+IlXC7w3LO8Bh9guVpXoDeVLRL2l8uuyMhMZpSBdjseiw0hjrxBkvynpH3MNkvaWMb+voT9h6QDud6btduXwQW3QyAJym47pE4EH43VAGOn2RzuNNyOWxi+7nil00ClHdk9ARKkbBpDolhEpex7bqYGll1xFoHln0qwoid0BH3rJjQGOdDFfhr8wiIBDlNhv0ThAl2u0DSW+drZzJiqsVyP5eDGWCBzwpXbdZ4lZChX0Wk2EgCTVaHBjGeylHr+R+vqQ1T4ZqB5kk0VJMyO0yEJfGNpHFPb2XzbTd8baNtnORWQX6w1yQ8/xA3PGMv2AWy7BHyy4LsoG1Pf/iFFSnbBjP587BldeLHR3D7EDsZbH8N156Tb8V513C/dxmG3HNE2eoaeoxby0Gt0iD6iI9RDrNqvfq/+qP7cuqw9rdVr5TyrlbLmCVqxWvs3D/mD2Q==</latexit>

2 3
c' c✓ c' s✓ s s' c c' s✓ c + s' s
6 7
R( ) = Rz (') Ry (✓) Rx ( ) = 4 s' c✓ s' s✓ s + c' c s' s✓ c c' s 5
s✓ c✓ s c✓ c
où, pour plus de simplicité, c' = cos ', s✓ = sin ✓
<latexit sha1_base64="eIKLdYUhjDfekuwrU+6raY81YqU=">AAACuHicbVFNb9MwGHbDx0b46uDIxaJF4jBVSSW0aQhpCA5cEENat0lNVBznTWs1dizb6TYs/xh+DVc48m9w0hzIxitZfvw876ffTJZMmyj6Mwju3L13f2f3Qfjw0eMnT4d7z850VSsKM1qVlbrIiIaSCZgZZkq4kAoIz0o4z9YfGv18A0qzSpyaawkpJ0vBCkaJ8dRi+HY8DunCJhui5Io5/A4ntNLdcz/Zx9qLZgWGtJpmYvvC4Xi8GI6iSdQavg3iDoxQZyeLvQEkeUVrDsLQkmg9jyNpUkuUYbQEFya1Bknomixh7qEgHHRq2ykdfuWZHBeV8kcY3LL/RljCtb7mmffkxKz0Ta0h/6vluknYq24bL6UL3WdruVQA636j+YZJ3bV6te21P4gpDlPLhKwNCOowDhMBl7TinIjc/zwYN49Tm4DQtYKmsLVJc2UFHsXO+WwfwX+Xgs+efF/KFcnAbF3kd+rsl9PY2RZxZ5kfxC8mvrmG2+BsOonfTKKv09HxtFvRLnqBXqLXKEYH6Bh9Qidohij6gX6iX+h3cBR8C5YB27oGgy7mOepZoP4CsWfb7g==</latexit>

26
Angles roulis-tangage-lacet
Problème inverse: déterminer les angles de roulis, tangage et lacet qui
correspondent à une matrice de rotation R donnée:
<latexit sha1_base64="mK4JozKFwenocPb/DymukV0oy4s=">AAACiHicbVHLTtwwFPUESmloeS67iZhB6mqUgBBlR4EFm6qAGECaRMhxbgZrYsfYzhSw/B3dls/q39QJWRDgSpaPzn3fk4qCKh2G/3re3PyHhY+Ln/ylz1+WV1bX1i9VWUkCI1IWpbxOsYKCchhpqgu4FhIwSwu4SqdHtf9qBlLRkl/oBwEJwxNOc0qwdlQyGPjxDLQ5t/5gcLPaD4dhY8FbELWgj1o7vVnrQZyVpGLANSmwUuMoFDoxWGpKCrB+XCkQmEzxBMYOcsxAJaaZ2gZbjsmCvJTucR007MsMg5lSDyx1kQzrW/XaV5Pv+jJVF+x0N3WUVLnqspWYSIBpd9BsRoVqR71/nrW7iM6/J4ZyUWngxAaBH3P4TUrGMM9MfU47jhITA1eVhLqxMXH9pXnQj6x11Y7BnUvCT0f+KMQtTp0ETYh4JNb8uoisaRCzhrpFnDDRaxnegsvtYbQ7DM+2+wc7rUSL6CvaRN9QhPbQATpBp2iECLpDf9Bf9OT5XujtefvPoV6vzdlAHfMO/wOsy8l+</latexit>

<latexit sha1_base64="LMeq7DxABqjPIRxRGAxPri6l1mU=">AAADLHicdVJbb9MwFHbCbYTLOhBPvES0IB6qKk5BICGkIYbEC2KgdZtUR5XjnLRWEyeynbJh+S/Bn+EFIV75HThdi+gGR7L86Tufz9VpXXClo+i751+6fOXqta3rwY2bt25vd3buHKqqkQxGrCoqeZxSBQUXMNJcF3BcS6BlWsBROn/d+o8WIBWvxIE+rSEp6VTwnDOqHTXpfO31ArIAbT7akPRfkn5ICsj1mPQDksKUC1NSLfmJDeTEYGzDR2EL4jUYWrJQNWVgogHGrLSEtMp4rYzXyvg/yuFaOVwrh0MbEBDZn8ykTySfznQS9HqTTjcaREsLLwK8Al20sv3Jjgckq1hTgtCsoEqNcVTrxFCpOSvARW8UuLLmdApjBwUtQSVmOVkbPnRMFuaVdEfocMn+/cLQUqnTMnVKV+1Mnfe15D99mWoDbmRv+51JlatNtqmnEmC+WWi24LValXpyVutmIzp/nhgu6kaDYDYMAyLgE6vKkrrBtgu3Y5wYN2bVSGgTG0PaK83DLrbWRdsDNy4J7xz5qqhnNHWfZCmpPzNr3h9ga5aotIa7Rtxi8Pk1XASH8QA/HUQf4u7uk9WKttB99AA9Rhg9Q7voLdpHI8S8e94Lb89743/xv/k//J9nUt9bvbmLNsz/9Ru8fAFs</latexit>

2 3
r11 r12 r13
6 7
R = 4 r21 r22 r23 5
r31 r32 r33
Si on compare cette expression avec R( ), on trouve que la solution,
<latexit sha1_base64="6Ox7RDuaZmafFY9q7tx3Xz4hou4=">AAACnnicbVFNb9MwGHbD1wgf6+DIJdAijUuVVEJwHGJCXKZtaN0qNVHlOG9aq7Zj2U5hs3zm13CF38K/mZPlQDZeyfKj5/1+n1wyqk0c/x0E9+4/ePho53H45Omz57vDvRfnuqoVgRmpWKXmOdbAqICZoYbBXCrAPGdwkW8+N/6LLShNK3FmLiVkHK8ELSnBxlPL4evxOEy3YOw3t5/mFSv0JfefTeWaundROB4vh6N4ErcW3QVJB0aos5Pl3gDSoiI1B2EIw1ovkliazGJlKGHgwrTWIDHZ4BUsPBSYg85su4uL3nqmiMpK+SdM1LL/ZljMdTOjj+TYrPVtX0P+11fopmCvu22ilC51n63lSgFs+oMWWyp1N+qPm1n7i5jyY2apkLUBQVwUhamA76TiHIvCNid2iySzKQhdK2gaW5s2X15Go8Q5X+0Q/LkUHHnyE5NrnHtZ2hB5RZw9PkucbRF3lvpFvDDJbRnugvPpJHk/iU+no4NpJ9EOeoXeoH2UoA/oAH1FJ2iGCPqJfqHf6E8QBV+Co+D4JjQYdDkvUc+C+TW0ktIP</latexit>

pour ✓ 2 ( ⇡/2, ⇡/2) , est:


<latexit sha1_base64="/1fz0DRojGxY+Y3Y2uSqVDyWDoo=">AAACn3icbVFbb9MwFHbDbYRbNx55MWuRhjS6pBJij0MgwQtQpHUbqqPKcU9aq7Fj2U5hWHnn1/AKf4V/g5PmgWwcyTqfvvOdm0+qcm5sFP3pBTdu3rp9Z+dueO/+g4eP+rt7Z6YoNYMpK/JCX6TUQM4lTC23OVwoDVSkOZyn6zd1/HwD2vBCntpLBYmgS8kzzqj11Ly/PxyGxK7AUky4xAcviOJH40Ny2PjnOBwO5/1BNIoaw9dB3IIBam0y3+0BWRSsFCAty6kxszhSNnFUW85yqEJSGlCUrekSZh5KKsAkrlmmws88s8BZof2TFjfsvxmOCmMuReqVgtqVuRqryf/GFqYu2OnuapU2memypVpqgHV30MWGK9OO+m07a3cRmx0njktVWpCswjgkEr6yQggqF45swFazOHEEpCk11I2dI7VLMzyIq8pXewv+uzR88OTrXK1oCnYrUd9Z5T6dxpVrkKgc94v4w8RXz3AdnI1H8ctR9Hk8OInbE+2gJ2gfHaAYvUIn6D2aoCli6Af6iX6h38HT4F3wMZhspUGvzXmMOhZ8+Qs49M/t</latexit>

<latexit sha1_base64="4rAsCV4lgEsdGGvoxfV6VKstkf0=">AAADVHicdVFRb9MwEHZaBiPA1sEjLxEt0iZKlWRC8DJpEzzwghjSuk2qS+W419Zq7BjbKSuW/yaI/8IDTpsHupWTonz67r7zd3eZzJk2cfw7aDTv7dx/sPswfPT4yd5+6+DppS5KRaFPi7xQ1xnRkDMBfcNMDtdSAeFZDlfZ/H2Vv1qA0qwQF2YpYcjJVLAJo8R4atT61emEOIMpE5YoRZbO5i7EC6LkjEW4e4K7ETZwY+yZISJ1h2pk08R1cdeDJHFHeKEloWDjXkq5wzjEZgaGbJO+9pLjlRbrb8pY9TX1ROqiV9EaHrtt/aT+nxGvXRvxyqMQgxjXM4SdzqjVjnvxKqK7IKlBG9VxPjoIAI8LWnIQhuZE60ESSzP0HQ2jOfillBq8tTmZwsBDQTjooV1dwEUvPTOOJoXynzDRiv1XYQnXeskzX8mJmenbuYrcmhvrquHG67aqUnqiN9lSThXAfNPoeMGkrq3erL1uDmIm74aWCVkaENRFUYgFfKcF58RvEy/AuEEytH63ulRQPWwtrn7ZJGonzvluH8CvS8EnT57lckYyMOsS+YM6+/kicXaFuLPMD+IPk9w+w11wmfaSN734S9o+TesT7aLn6AU6RAl6i07RR3SO+ogGJwEN8oA3fjb+NJvNnXVpI6g1z9BGNPf+ArtSEHQ=</latexit>

' = Atan2(r21 , r11 )


p
✓ = Atan2( r31 , r32 2 + r2 )
33

= Atan2(r32 , r33 )
L’autre solution équivalente pour ✓ 2 (⇡/2, 3⇡/2) , est:
<latexit sha1_base64="WW7my2lKnqRKrbh3N4zsFteFclo=">AAACn3icbVFbb9MwFHbDbYRbB4+8mLVIQ5q6pAhtj0MgwQtQpHUbqqvKcU5aq7Fj2U5hWHnn1/AKf4V/g5PmgWwc6cifvvOdm0+icm5sFP3pBTdu3rp9Z+dueO/+g4eP+ruPz0xRagZTVuSFvkiogZxLmFpuc7hQGqhIcjhP1m/q+PkGtOGFPLWXCuaCLiXPOKPWU4v+3nAYErsCSzHhEu8TxQ/HB+TgZQNe4HA4XPQH0ShqDF8HcQsGqLXJYrcHJC1YKUBallNjZnGk7NxRbTnLoQpJaUBRtqZLmHkoqQAzd80yFX7umRRnhfYuLW7YfzMcFcZcisQrBbUrczVWk/+NpaYu2OnuapU2memypVpqgHV30HTDlWlH/badtbuIzY7njktVWpCswjgkEr6yQggqU0c2YKtZPHcEpCk11I2dI/WTZHgQV5Wv9hb8d2n44MnXuVrRBOxWor6zyn06jSvXIFE57hfxh4mvnuE6OBuP4lej6PN4cBK3J9pBT9Ee2kcxOkIn6D2aoCli6Af6iX6h38Gz4F3wMZhspUGvzXmCOhZ8+QtGos/z</latexit>

<latexit sha1_base64="E2wkYctoYDkuLTfjNnmFrQbNI6U=">AAADWXicdVFNbxMxEPUmfITloyk9clmRILUiROutEFyQWuDABVGkpq0Uh8jrTBIru17X9oYGyz8UwY/Bm+yB9GOk1T69mTd+M5PKjGsTx7+DRvPe/QcPW4/Cx0+ePttp7z4/00WpGAxYkRXqIqUaMi5gYLjJ4EIqoHmawXm6+FTlz5egNC/EqVlJGOV0JviUM2o8NW7/7XZDksKMC0uVoitnMxeSJVVyziPS+0B6ETFwZeyxoSJx+2/U2CbY9UivQhi7A7LUkjKwcT9huSMkJGYOht4lPtyIib5UxqofiWcSF72ONvDQ3dZQ6ju9eHHtxWsPQgJiUg8Sdrvjdifux+uIbgJcgw6q42S8GwCZFKzMQRiWUa2HOJZm5DsazjLwmyk1eHMLOoOhh4LmoEd2fQYXvfLMJJoWyn/CRGv2f4WludarPPWVOTVzfT1XkbfmJrpquPW6raqUnupttpQzBbDYNjpZcqlrq1cbr9uDmOn7keVClgYEc1EUEgE/WZHn1G+TLMG4IR5Zv1tdKqgetpZUv3QadbBzvttn8OtS8NWTx5mc0xTMpkT+Ys5+O8XOrlHuLPeD+MPg62e4Cc6SPn7bj78nnaOkPlELvUAv0T7C6B06Ql/QCRogFnwM5sFloBp/mkGz1Qw3pY2g1uyhrWju/QNVRhCI</latexit>

' = Atan2( r21 , r11 )


p
✓ = Atan2( r31 , 2 + r2 )
r32 33

= Atan2( r32 , r33 )


27
Angles roulis-tangage-lacet
Remarque 1:
• Si cos ✓ = 0 les solutions précédentes sont dégénérées: dans ce cas,
<latexit sha1_base64="A6p73i99/Ua0sMxQw9N1GmsgQOk=">AAACkXicbVFNbxMxEHWWj5blK6XcuFgkSJyidSUEPSCFjwMSQhSpaStlV5HXO5tYWXst2xtoLf8XrvCP+Dd4kz2wLSNZfnrzZubZk6uKG5skfwbRrdt37u7t34vvP3j46PHw4MmZqRvNYMbqqtYXOTVQcQkzy20FF0oDFXkF5/n6Q5s/34A2vJan9lJBJuhS8pIzagO1GD4dj+OU1Sa1K7AUv8VJPB4vhqNkkmwD3wSkAyPUxcniYABpUbNGgLSsosbMSaJs5qi2nFXg47QxoChb0yXMA5RUgMnc1r7HLwJT4LLW4UiLt+y/FY4KYy5FHpSC2pW5nmvJ/+YK0zbsTXetSpvS9NlGLTXAum+02HBlOqs/dl77D7Hlm8xxqRoLknmM41TCd1YLQWXh0g1YPyeZS0GaRkM72Lm0vfISj4j3odtHCN+l4Usg31VqRXOwO4m6Yt59PSXebZHwjoeHhMWQ62u4Cc6OJuTVJPl2NJqSbkX76Bl6jl4igl6jKfqETtAMMXSFfqJf6Hd0GB1H0+j9ThoNuppD1Ivo818hQcu+</latexit>

on peut uniquemment déterminer la somme ou la différence de ' et


<latexit sha1_base64="ALbHcR16gUAeArJxRfNwpcGPpIQ=">AAAChXicbVFNb9QwEPWGj5bw1cKRS8QuEhdWcVWgtxbBgQuiSN22YhNVjjPZWhs7lsdZKJb/BVf4X/wbnN0cSMtIlp/evJl59hS6FmjT9M8ounX7zt2t7Xvx/QcPHz3e2X1yik1rOMx4UzfmvGAItVAws8LWcK4NMFnUcFYs33f5sxUYFI06sVcacskWSlSCMxuor5NJnGkU8WRysTNOp+k6kpuA9mBM+ji+2B1BVja8laAsrxninKba5o4ZK3gNPs5aBM34ki1gHqBiEjB3a8s+eRGYMqkaE46yyZr9t8IxiXgli6CUzF7i9VxH/jdXYtdwMN11KoMVDtlWLwzAcmi0XAmNvdXvG6/Dh9jqIHdC6daC4j5J4kzBN95IyVTpshVYP6e5y0Bha6Ab7FzWXUWVjKn3odsHCN9l4FMg39X6khVgNxL9g3v3+YR6t0bSOxEeEhZDr6/hJjjdm9LX0/TL3viI9ivaJs/Ic/KSUPKWHJGP5JjMCCeK/CS/yO9oK3oV7UdvNtJo1Nc8JYOIDv8CdwTIEQ==</latexit>

<latexit sha1_base64="RS9U7oqmbvE9+Mgi2AuR+B9NUYE=">AAACiHicbVFNT9wwEPWmFGhK+ShHLlF3K3FaxUgIeoO2By4IKrGAtImQ40x2rY0d13a2pZZ/R6/lZ/FvcHZzaICRLD+9eTPz7MlkybSJ48de8Gbl7era+rvw/caHza3tnY/XuqoVhRGtykrdZkRDyQSMDDMl3EoFhGcl3GSzb03+Zg5Ks0pcmXsJKScTwQpGifFUOhiEyZwoOWXhYHC33Y+H8SKilwC3oI/auLzb6UGSV7TmIAwtidZjHEuTWqIMoyW4MKk1SEJnZAJjDwXhoFO7cO2iz57Jo6JS/ggTLdj/KyzhWt/zzCs5MVP9PNeQr+Zy3TTsTLeNSulCd9laThTArGs0nzOpW6u/l167DzHFcWqZkLUBQV0UhYmAX7TinIjcJnMwboxTm4DQtYJmsLVJc2VF1MfO+W7fwX+XgnNPnpZySjIwS4n8Q529uMLOLhB3lvmH+MXg52t4Ca4PhvhwGP846J/gdkXraA99QvsIoyN0gs7QJRohin6iv+gfegjCIA6Ogi9LadBra3ZRJ4KvT4yGyW0=</latexit>

• Les configurations qui correspondent aux angles ✓ = ± ⇡/2 caractérisent


<latexit sha1_base64="X3ZE+22QjBtH/8iw9uB9gpaxWm4=">AAAClnicbVFbb9MwFHbDbYRbBy8gXiJaJB5QSSqh7YVpCNB4QRRp3SbVUeU4J63V2LFsp2xYFr+GV/g9/Js5bR7IxpGO/Ok737n5ZLJk2sTx315w4+at23d27ob37j94+Ki/+/hEV7WiMKVVWamzjGgomYCpYaaEM6mA8KyE02z1oYmfrkFpVoljcyEh5WQhWMEoMZ6a958NhyE2SzAkehdhyfFrLNmbcTgczvuDeBRvLLoOkhYMUGuT+W4PcF7RmoMwtCRaz5JYmtQSZRgtwYW41iAJXZEFzDwUhINO7WYHF730TB4VlfIuTLRh/82whGt9wTOv5MQs9dVYQ/43luumYKe7bVRKF7rL1nKhAFbdQfM1k7od9Xw7a3cRU+ynlglZGxDURVGIBXynFedE5BavwbhZkloMQtcKmsbW4ubJimiQOOerfQT/XQq+ePJ9KZckA7OVyB/U2a/HibMbxJ1lfhF/mOTqGa6Dk/EoeTuKv40Hh0l7oh30HL1Ar1CC9tAh+owmaIoo+ol+od/oT/A0OAg+BUdbadBrc56gjgWTSy1OzXY=</latexit>

les singularités de représentation des angles d’Euler

Remarque 2:
• Atan2(y, x) est la fonction arc tangente à deux arguments
<latexit sha1_base64="t8dmm3VwQmx/F5AJVYktArZjQCM=">AAACl3icbVFba9swFFa8W+fd0u1p24tZMuigBCsw1re1bIy+jLXQtIXYBFk+TkUsWUhymkwI9mv2uv2d/ZvJiR/mdgcO+vjOd246mSyZNnH8pxfcuXvv/oOdh+Gjx0+ePuvvPj/XVa0oTGhVVuoyIxpKJmBimCnhUiogPCvhIlt8auIXS1CaVeLMrCWknMwFKxglxlOz/qvhMEwMrIw9MkSM3d56P9lfvYvC4XDWH8SjeGPRbYBbMECtncx2e5DkFa05CENLovUUx9KklijDaAkuTGoNktAFmcPUQ0E46NRulnDRW8/kUVEp78JEG/bfDEu41mueeSUn5krfjDXkf2O5bgp2uttGpXShu2wt5wpg0R00XzKp21FX21m7i5jiILVMyNqAoC6KwkTANa04JyK3yRKMm+LUJiB0raBpbG3SPFkRDbBzvtpn8N+l4Ksnj0p5RTIwW4n8Tp39doad3SDuLPOL+MPgm2e4Dc7HI/x+FJ+OB4e4PdEOeo3eoD2E0Qd0iI7RCZogin6gn+gX+h28DD4GX4LjrTTotTkvUMeC07+v8M4f</latexit>

• Atan2(y, x) calcule l’arc tangente du rapport y/x mais elle utilise


<latexit sha1_base64="t8dmm3VwQmx/F5AJVYktArZjQCM=">AAACl3icbVFba9swFFa8W+fd0u1p24tZMuigBCsw1re1bIy+jLXQtIXYBFk+TkUsWUhymkwI9mv2uv2d/ZvJiR/mdgcO+vjOd246mSyZNnH8pxfcuXvv/oOdh+Gjx0+ePuvvPj/XVa0oTGhVVuoyIxpKJmBimCnhUiogPCvhIlt8auIXS1CaVeLMrCWknMwFKxglxlOz/qvhMEwMrIw9MkSM3d56P9lfvYvC4XDWH8SjeGPRbYBbMECtncx2e5DkFa05CENLovUUx9KklijDaAkuTGoNktAFmcPUQ0E46NRulnDRW8/kUVEp78JEG/bfDEu41mueeSUn5krfjDXkf2O5bgp2uttGpXShu2wt5wpg0R00XzKp21FX21m7i5jiILVMyNqAoC6KwkTANa04JyK3yRKMm+LUJiB0raBpbG3SPFkRDbBzvtpn8N+l4Ksnj0p5RTIwW4n8Tp39doad3SDuLPOL+MPgm2e4Dc7HI/x+FJ+OB4e4PdEOeo3eoD2E0Qd0iI7RCZogin6gn+gX+h28DD4GX4LjrTTotTkvUMeC07+v8M4f</latexit>

<latexit sha1_base64="kJOHwgLpwIl49KAaEfoQZeKvs7U=">AAAChHicbVFNT9wwEPWmLYX0AyhHLhG7lXqotjEVglMFgkMvqCCxQLWJkONMFmtjx7KdLYvlX9Fr+WH9Nzi7OTTQkSw/vXkz8+zJZMm0ieO/veDFy1crr1fXwjdv371f39j8cKmrWlEY0aqs1HVGNJRMwMgwU8K1VEB4VsJVNj1u8lczUJpV4sLMJaScTAQrGCXGUz8Hg3D+5S4cDG42+vEwXkT0HOAW9FEbZzebPUjyitYchKEl0XqMY2lSS5RhtAQXJrUGSeiUTGDsoSAcdGoXjl300TN5VFTKH2GiBftvhSVc6znPvJITc6uf5hryv7lcNw07022jUrrQXbaWEwUw7RrNZ0zq1urd0mv3IaY4SC0TsjYgqIuiMBHwi1acE5HbZAbGjXFqExC6VtAMtjZprqyI+tg53+0E/HcpOPXkUSlvSQZmKZH31NkfF9jZBeLOMv8Qvxj8dA3PweXuEO8N4/Pd/iFuV7SKttEO+oQw2keH6Ds6QyNEEUe/0R/0EKwEn4Ovwd5SGvTami3UieDbIzF9x38=</latexit>

le signe des arguments pour déterminer le bon quadrant de l’angle


<latexit sha1_base64="QaRxKcc2zJZgyp7RJ0i+nwYCIDQ=">AAAFRHicrVNLb9NAEJ40AUp4tXDkYgggUJPUjoTg0FSt4MAFUURfUh1V6/UksWqvjXcTGlb79/gP/AQkbogrYtZxpSYNSBXsajbz/L7Z7DjI4kgq1/1aWarWrly9tny9fuPmrdt3Vlbv7st0lHPc42mc5ocBkxhHAvdUpGI8zHJkSRDjQXDyysYPxpjLKBW7apJhL2EDEfUjzhS50tUKh0e06+CDAoRTOjVs08lAQAcMPIUJNCnapNgzcAqtW5y2JqaaPmX7VGXtgOwBRFSrCSGnzajekBXTNkXOAxIb4yWLZVgv0JuE/4TklGSTxKXMMUjIKI8TsiZPGzx4QVZCaD7tvyM6sFb0nFFPZ+iTwjMgvI8Fx9ntHNj4T5ythZwb/8S2ViKu06ucR92cQ+1eCrX1B9T5Xi+Hen6WBKQkDoTwjSbFTkZEMTPD1l3IZrGQ8sO5WbL+nFAGMCSGNtk0wccrDbftFsu5qHil0oBy7RyvVtAPUz5KUCgeMymPPDdTPc1yFfEYTd0fScwYP2EDPCJVsARlTxdfnHEekyd0+mlOIpRTeM9XaJZIOUkCykyYGsr5mHUujIXSAs6wa5uVy76c9Y6yQY54MttoOI4yWbZ6Ou119iKq/7KnI5GNFApuHKfuC/zE0yRhItT+GJU58nraRyFHOVpirX37E/SdhmcMob1G+rtyfEvO7TgbsgDVNCX7zI1+t+sZXWiJ0RFdhB7Gm3+Gi8p+p+09b7vvO40tr3yiZbgPD+mzsgO2BW9gB/aAV1vVD1W/2qt9qX2v/aj9nKYuVcqaezCzar9+AyY8Ndk=</latexit>

8
>
> arctan(y/x), x>0
>
>
✓A >
<latexit sha1_base64="qzFOdRBF/wZz18d4gpTD4sgW8Cw=">AAACpXicbVHLbtswEKTVR1L15aTHXoTaRXMypKBBckyQHnoJkha2E8ASBIpa2YRFiiApNynBX+jX9Nr+R/+mlKxDlXQBgoPZ2d0hNxMlVToM/wy8R4+fPN3ZfeY/f/Hy1evh3v5cVbUkMCNVWcmbDCsoKYeZprqEGyEBs6yE62x93uSvNyAVrfhU3wlIGF5yWlCCtaPS4cF47McabnXbynyF/FJivgRrYr0CjVNzZm3gj8fpcBROwjaChyDqwAh1cZXuDSDOK1Iz4JqUWKlFFAqdGCw1JSVYP64VCEzWeAkLBzlmoBLT+rDBe8fkQVFJd7gOWvbfCoOZUncsc0qG9UrdzzXkf3O5ahr2pptGJVWh+mwtlhJg3Teab6hQndXbrdf+Q3RxkhjKRa2BExsEfszhG6kYwzw38Qa0XUSJiYGrWkIz2Ji4ubIiGEXWum6fwH2XhAtHnpVihTPQW4n4Tqy5nEbWtIhZQ91D3GKi+2t4COaHk+hoEn45HJ1+7Fa0i96id+gARegYnaLP6ArNEEE/0E/0C/32PngX3tSbb6XeoKt5g3rhpX8B+iDVmg==</latexit>

>
> arctan(y/x) + ⇡, y 0, x < 0
0 >
>
>
<latexit sha1_base64="zgzGV/carRyi/6eRPevioyOfCzk=">AAACg3icbVFNT9wwEPWG0kL6BeXIJepu1UqVVsmqFVwqgeiBC4JKLKy0iZDjTBZrbceynW0Xy3+Ca/vH+m9wdnNooCNZfnrzZubZk0tGtYnjv71g49nm8xdb2+HLV6/fvN3ZfXelq1oRGJOKVWqSYw2MChgbahhMpALMcwbX+fykyV8vQGlaiUuzlJBxPBO0pAQbT00Gg3D5MRwMbnb68TBeRfQUJC3oozYubnZ7kBYVqTkIQxjWeprE0mQWK0MJAxemtQaJyRzPYOqhwBx0ZleGXfTBM0VUVsofYaIV+2+FxVzrJc+9kmNzqx/nGvK/uUI3DTvTbaNSutRdtpYzBTDvGi0WVOrW6q+11+5DTHmYWSpkbUAQF0VhKuAnqTjHorDpAoybJplNQehaQTPY2rS58jLqJ875bt/Bf5eCM08eM3mLczBribwjzp5fJs6uEHeW+of4xSSP1/AUXI2Gyddh/GPUPxq1K9pC++g9+oQSdICO0Cm6QGNEEEP36Df6E2wGn4NR8GUtDXptzR7qRPDtAf2sxvY=</latexit>

y < arctan(y/x) ⇡, y < 0, x < 0


x
<latexit sha1_base64="sjriyuknAAj+Nah+jm16UmOPVQ0=">AAACgnicbVFNb9QwEPWmBUr46seRS8QuEuKwihchOHBoBYdeEEXaj0qbqHKcya61sWPZztLW8o/gSn9Z/w3Obg5ky0iWn968mXn2ZLJk2sTxfS/Y23/0+MnB0/DZ8xcvXx0eHU91VSsKE1qVlbrMiIaSCZgYZkq4lAoIz0qYZauvTX62BqVZJcbmRkLKyUKwglFiPDUbDMLrcDC4OuzHw3gT0UOAW9BHbVxcHfUgyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KAuYeCcNCp3fh10VvP5FFRKX+EiTbsvxWWcK1veOaVnJil3s015H9zuW4adqbbRqV0obtsLRcKYNU1mq+Z1K3V663X7kNM8Tm1TMjagKAuisJEwC9acU5EbpM1GDfHqU1A6FpBM9japLmyIupj53y3b+C/S8F3T56VckkyMFuJvKXO/hhjZzeIO8v8Q/xi8O4aHoLpaIg/DuOfo/7pqF3RAXqN3qB3CKNP6BSdows0QRSt0G/0B90F+8H7AAcfttKg19acoE4EX/4CgyXGxA==</latexit>

Atan2(y, x) =
<latexit sha1_base64="YUx8JqswFtucQJ6FVJD0SjQbZ4M=">AAACg3icbVFNT9wwEPWmpYWUlo8euUTdrYpUaZWsQOWCRNUeekFQiYWVNhFynMlire1YtrNALf+JXuGP9d/U2c2hgY5k+enNm5lnTy4Z1SaO//SCFy/XXr1e3wjfbL59t7W9s3upq1oRGJOKVWqSYw2MChgbahhMpALMcwZX+fxbk79agNK0EhfmXkLG8UzQkhJsPDUZDMK7T+FgcL3dj4fxMqLnIGlBH7Vxfr3Tg7SoSM1BGMKw1tMkliazWBlKGLgwrTVITOZ4BlMPBeagM7s07KKPnimislL+CBMt2X8rLOZa3/PcKzk2N/ppriH/myt007Az3TYqpUvdZWs5UwDzrtFiQaVurd6tvHYfYsqjzFIhawOCuCgKUwG3pOIci8KmCzBummQ2BaFrBc1ga9Pmysuonzjnu30H/10KTj35lckbnINZSeQv4uzZReLsEnFnqX+IX0zydA3PweVomBwO45+j/smoXdE62kMf0D5K0Bd0gn6gczRGBDH0Gz2gx2At+ByMgoOVNOi1Ne9RJ4Ljv/uQxvU=</latexit>

x 0 >
> +⇡/2, y > 0, x = 0
✓B
<latexit sha1_base64="2yxcq0SKz/OmZGq6hodSK833xxc=">AAACoHicbVFNb9QwEPWGrxK+WjhyibqLxGmVVCA4lo9DL6it1G0rNtHKcSa71saOZU+WFss/gF/DFX4K/wYnmwNpGcny05s3M8+eXFXcYBz/GQV37t67/2DnYfjo8ZOnz3b3np+butEMZqyuan2ZUwMVlzBDjhVcKg1U5BVc5OtPbf5iA9rwWp7htYJM0KXkJWcUPbXYHU8mYYpwhV0rm1cNOJviCpAu7EfnonAy8ap4GncR3QZJD8akj5PF3gjSomaNAImsosbMk1hhZqlGzipwYdoYUJSt6RLmHkoqwGS2s+CiV54porLW/kiMOvbfCkuFMdci90pBcWVu5lryv7nCtA0H022r0qY0Q7ZRSw2wHhotNlyZ3urV1uvwIVi+zyyXqkGQzEVRmEr4xmohqCxsugF08ySzKUjTaGgHW5u2V15G48Q53+0z+O/S8MWTHyq1ojngVqK+M2ePzxJnOySc5f4hfjHJzTXcBucH0+TtND49GB++6Ve0Q16SffKaJOQdOSRH5ITMCCM/yE/yi/wO9oOj4Dg43UqDUV/zggwi+PoXMk7Tmg==</latexit>

>
>
y
<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>

>
>
>
> ⇡/2, y < 0, x = 0
>
>
:
non définie, y = 0, x = 0
arctan(y/x) = arctan(y 0 /x0 ) … mais angle ✓A ou ✓B ?
<latexit sha1_base64="nbOCu9HpRMq66G453NmiAooE5Z4=">AAACoHicbVHLTtwwFPWkL5o+gHbZjcVMBWyGGKlqN5WoyoJNBUgMoE4i5Dg3gzWxY9nOdKZWPoCvYUs/pX9TZyaqGuiVLB+fe+7LN1UFNzaKfveCR4+fPH229jx88fLV6/WNzTfnpqw0gxEri1JfptRAwSWMLLcFXCoNVKQFXKTTr43/Ygba8FKe2YWCRNCJ5Dln1HrqaqM/GIQx1cxSubPYm+/iz/jvc3tvvr0bDgZeFQ2jpeGHgLSgj1o7udrsQZyVrBIgLSuoMWMSKZs4qi1nBdRhXBlQlE3pBMYeSirAJG45TY3feybDean9kRYv2X8jHBXGLETqlYLaa3Pf15D/9WWmSdip7hqVNrnpspWaaIBpt9FsxpVpW52veu0OYvNPieNSVRYkqzEOYwk/WCkElZmLZ2DrMUlcDNJUGprCzsXNlea4T+raZzsE/10avnnyS6GuaQp2JVE/We2Oz0jtlkjUjvtB/GLI/TU8BOf7Q/JhGJ3u9w9Iu6I19A5toR1E0Ed0gI7QCRohhm7QLbpDv4Kt4Cg4Dk5X0qDXxrxFHQu+/wFvH9Dr</latexit>

<latexit sha1_base64="dJNCGKngNNhGFX1kMkIR20Qpe5Y=">AAACjXicbVFdT9swFHWzD1hgo2yPe4lokXiqkkqIPUyo1SZtLwiQKCA1UeU4N63V2LFsp8As/5O9bv9p/wanzQOBXcny0bnn3nvsm4qCKh2G/zreq9dv3m5tv/N3dt9/2Ovuf7xWZSUJTEhZlPI2xQoKymGiqS7gVkjALC3gJl1+q/M3K5CKlvxKPwhIGJ5zmlOCtaNm3W6/78d6ARrPzNj6/f6s2wsH4TqClyBqQA81cTHb70CclaRiwDUpsFLTKBQ6MVhqSgqwflwpEJgs8RymDnLMQCVmbd0Gh47JgryU7nAdrNmnFQYzpR5Y6pQM64V6nqvJ/+YyVTdsTTe1SqpctdlKzCXAsm00W1GhGqv3G6/th+j8S2IoF5UGTmwQ+DGHO1Iyhnlm4hVoO40SEwNXlYR6sDFxfaV50Iusdd2+g/suCWeOHBdigVPQG4n4Raw5v4qsWSNmDXUPcYuJnq/hJbgeDqLjQXg57I2GzYq20Wd0gI5QhE7QCP1EF2iCCFqh3+gP+uvtecfeV+90I/U6Tc0n1ArvxyP4zsrh</latexit> <latexit sha1_base64="plzlRpeg1feK+fHpzYeI8BnPTDU=">AAACjXicbVFda9swFFXcbe28j6Td417MksGegh0I3cMoXTfoXsY6SNJCbIIsXyciliwkOWsn9E/2uv6n/pvKiR/mdheEDueee++RbioKqnQY3nW8vSdPn+0fPPdfvHz1uts7PJqpspIEpqQsSnmVYgUF5TDVVBdwJSRglhZwma6/1PnLDUhFSz7RNwIShpec5pRg7ahFrzcY+LFegcYLc2b9wWDR64fDcBvBYxA1oI+auFgcdiDOSlIx4JoUWKl5FAqdGCw1JQVYP64UCEzWeAlzBzlmoBKztW6D947JgryU7nAdbNl/KwxmSt2w1CkZ1iv1MFeT/81lqm7Ymm5qlVS5arOVWEqAddtotqFCNVavd17bD9H5x8RQLioNnNgg8GMOv0jJGOaZiTeg7TxKTAxcVRLqwcbE9ZXmQT+y1nX7Cu67JHx35OdCrHAKeicRv4k1PyaRNVvErKHuIW4x0cM1PAaz0TAaD8Ofo/7pqFnRAXqL3qEPKELH6BR9QxdoigjaoD/oL7r1ut7Y++Sd7KRep6l5g1rhnd8D+urK4g==</latexit>

28
Angle et axe
• Une représentation non minimale de l’orientation peut être obtenue en utilisant
4 parametrès qui expriment une rotation d’un angle ✓ autour d’un axe
<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

générique dans l’espace 3D

• Cette représentation peut être utile, par exemple, pour planifier la trajectoire
de l’effecteur d’un manipulateur

<latexit sha1_base64="6mGVrTYssbk4HTO5qZsQQ11D440=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUOrcuCCKFK3W2kTVY4z2bU2dizbWdpa/hG9wi/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+UWTHy9AaVaJK3MvIeVkKljBKDGeGg8G4UM4GNzu9+NhvIzoOcAt6KM2Lm8PepDkFa05CENLovUEx9KklijDaAkuTGoNktA5mcLEQ0E46NQu/bronWfyqKiUP8JES/bfCku41vc880pOzEw/zTXkf3O5bhp2pttGpXShu2wtpwpg3jWaL5jUrdW7ldfuQ0zxKbVMyNqAoC6KwkTAT1pxTkRukwUYN8GpTUDoWkEz2NqkubIi6mPnfLcv4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Ih+od/BevAhwMHxShr02prXqBPB57+H9cbI</latexit>

z
<latexit sha1_base64="k/QjTgbHLJZzvFIm84zC/GcxXaA=">AAACmXicbVHLTtwwFPWkD2j6GsoSFlFnKnU1ShAVXYLaBapUQVUGkCbRyHFuBmtsx7KdKWB5w9d02/5N/6ZOJosGeqUrH5177ss3l4xqE8d/BsGjx0+ebmw+C5+/ePnq9XDrzbmuakVgSipWqcsca2BUwNRQw+BSKsA8Z3CRLz818YsVKE0rcWZuJGQcLwQtKcHGU/Ph7ngcpgauTVvK5qwGZ9X81kXheDwfjuJJ3Fr0ECQdGKHOTudbA0iLitQchCEMaz1LYmkyi5WhhIEL01qDxGSJFzDzUGAOOrNtbxe980wRlZXyLkzUsv9mWMy1vuG5V3JsrvT9WEP+N1bopmCvu21USpe6z9ZyoQCW/UGLFZW6G/V6PWt/EVN+zCwVsjYgiIuiMBXwg1ScY1HYdAXGzZLMpiB0raBpbG3aPHkZjRLnfLXP4L9LwVdPHjF5hXMwa4m8Jc6enCXOtog7S/0i/jDJ/TM8BOd7k+TDJP62Nzrc7060iXbQW/QeJegAHaJjdIqmiKA79BP9Qr+DneAoOA6+rKXBoMvZRj0Lvv8FErnQlA==</latexit>

rz
r = [rx , ry , rz ]T
<latexit sha1_base64="u/byV1U7ifJXuZncptL1OVFIYKY=">AAACt3icbVHLjtMwFHXDY4bw6sCSjUWLxKKqkhGIAQlpECzYIAapnRmpCZHj3LRRY8fYTmnH8r/wNWxhy9/gZLIgM1zJ9tG55758U1EWSgfBn4F34+at23v7d/y79+4/eDg8eHSqqlpSmNOqrOR5ShSUBYe5LnQJ50ICYWkJZ+n6feM/24BURcVneicgZmTJi7ygRDsqGb4Zj/1Iw1a3qUxa1mBNtAFtpMXR5G00wQuZbCfRRCa79r6Iv84s9sfjZDgKpkFr+DoIOzBCnZ0kBwOIsorWDLimJVFqEQZCx4ZIXdASrB/VCgSha7KEhYOcMFCxaTuz+JljMpxX0h2uccv+G2EIU2rHUqdkRK/UVV9D/teXqSZhr7ppVFLlqs/WYikB1v1Gs00hVNfq9rLX/iA6P4pNwUWtgVOLsR9x+E4rxgjP2q+2izA2EXBVS2gKGxM1T5rjUWity/YB3HdJ+OTId6VYkdStp5WIC2rN51loTYuYNYUbxC0mvLqG6+D0cBq+nAZfDkfHL7oV7aMn6Cl6jkL0Ch2jj+gEzRFFP9BP9Av99l57iZd7q0upN+hiHqOeed/+AlLf28c=</latexit>


<latexit sha1_base64="me6ke/AyuZYL9/XXrjBI5U9pDhA=">AAACh3icbVFNT+MwEHUDu0DYXb6OXKJtV9pTN6nExxEEBy4IVqKA1ETIcSat1dixbKd8WP4bXOFv8W9w2hw2sCNZfnrzZubZk4qCKh2Gbx1vafnL15XVNX/92/cfG5tb29eqrCSBISmLUt6mWEFBOQw11QXcCgmYpQXcpNOTOn8zA6loya/0o4CE4TGnOSVYOyru9fxYT0Bjv9e72+yG/XAewWcQNaCLmri82+pAnJWkYsA1KbBSoygUOjFYakoKsH5cKRCYTPEYRg5yzEAlZm7aBr8ckwV5Kd3hOpiz/1YYzJR6ZKlTMqwn6mOuJv+by1TdsDXd1CqpctVmKzGWANO20WxGhWqsPiy8th+i88PEUC4qDZzYIPBjDvekZAzzzMQz0HYUJSYGrioJ9WBj4vpK86AbWeu6nYL7LgnnjjwuxASnoBcS8USsubiKrJkjZg11D3GLiT6u4TO4HvSjvX74d9A92m9WtIp20U/0G0XoAB2hM3SJhogggZ7RC3r11rw/3r53uJB6naZmB7XCO34HcVbI9A==</latexit>

vecteur unitaire ( krk = 1)


<latexit sha1_base64="wyc+QgQ1c+0wcUESPo/vtq3A3nY=">AAACknicbVHLbtQwFPWEVwmvKY8VG4sZJFajeCQEQkJqVRYsQBSp01aaRCPHuZlaEzuW7QwU1x/DFr6Iv8FJsyAtV7J8dO77nlxV3Ngk+TOKbty8dfvOzt343v0HDx+Ndx8fm7rRDBasrmp9mlMDFZewsNxWcKo0UJFXcJJvDlr/yRa04bU8sucKMkHXkpecURuo1fjZdBqnF+kWrNM+vcDvMYmn09V4ksySzvB1QHowQb0drnZHkBY1awRIyypqzJIkymaOastZBT5OGwOKsg1dwzJASQWYzHXze/wyMAUuax2etLhj/81wVBhzLvIQKag9M1d9LflfX2HagoPuro3SpjRDtlFrDbAZDlpsuTL9qN8vZx0uYsu3meNSNRYk8xjHqYRvrBaCysK1R/VLkrkUpGk0tI2dS9svL/GEeB+qfYBwLg2fA7lfqTOaByG6EPWDeffliHjXIeEdD4sEYchVGa6D4/mMvJ4lX+eTvXkv0Q56jl6gV4igN2gPfUSHaIEYcugn+oV+R0+jd9F+dHAZGo36nCdoYNGnv8h8zHw=</latexit>

r
<latexit sha1_base64="Oqc5S7cQv+6LcH6oskBw0YAgzZA=">AAACnXicbVHLbtQwFPWER0t4TWHJAosZJFajpBLQZREgseBRpE6n0iQaOc7N1BrbsWxnaLG85WvYwr/wNzhpFqTlSpaPzn3fUyjOjE2SP6Poxs1bt3d278R3791/8HC89+jE1I2mMKc1r/VpQQxwJmFumeVwqjQQUXBYFJu3rX+xBW1YLY/thYJckLVkFaPEBmo1xtNpnFk4t10pV/AGvMu2YJ32HsfT6Wo8SWZJZ/g6SHswQb0drfZGkJU1bQRISzkxZpkmyuaOaMsoBx9njQFF6IasYRmgJAJM7rr+Hj8PTImrWocnLe7YfzMcEcZciCJECmLPzFVfS/7XV5q24KC7a6O0qcyQbdRaA2yGg5Zbpkw/6vnlrMNFbHWQOyZVY0FSj3GcSfhGayGILLuD+mWauwykaTS0jZ3L2q+o8CT1PlR7B+FcGj4F8g1XZ6QIInQh6jv17stx6l2HhHcsLBKESa/KcB2c7M/Sl7Pk6/7k8FUv0S56gp6hFyhFr9Eh+oCO0BxR9AP9RL/Q7+hp9D76GH2+DI1Gfc5jNLBo8ReY8NKI</latexit>

de l’axe de rotation dans


le repère O-xyz
<latexit sha1_base64="8EG9ohYcfr1B7E4BIpnv3mSJaxU=">AAACpHicbVHLbtQwFPWEVwmvabtkYzHDY8MoqYRg2YouWIAootNWmoSR49xMrYkdy3aGmVr+BL6GLXwIf4OTyYK0XMny0bnnPuyTyZJpE0V/BsGt23fu3tu5Hz54+Ojxk+Hu3pmuakVhSquyUhcZ0VAyAVPDTAkXUgHhWQnn2fJ9kz9fgdKsEqdmIyHlZCFYwSgxnpoPX47HYWJgbdpWNisJXTr7uaXsa7fGG3zlwvF4PhxFk6gNfBPEHRihLk7muwNI8orWHIShJdF6FkfSpJYow2gJLkxqDdJPIwuYeSgIB53adg2Hn3smx0Wl/BEGt+y/FZZwrTc880pOzKW+nmvI/+Zy3TTsTbeNSulC99laLhTAsr9ovmJSd6uut7v2H2KKd6llQtYGBHUYh4mA77TinIjcJiswbhanNgGhawXNYGuT5soKPIqd892OwX+Xgk+ePCrlJcnAbCXyinpnTmNnW8SdZf4h3pj4ug03wdnBJH4zib4cjA6jzqId9BQ9Q69QjN6iQ/QBnaApougH+ol+od/Bi+Bj8DWYbqXBoKvZR70Ivv0F8+nVKA==</latexit>

<latexit sha1_base64="mRi9k4yfBIkM8dOSSuUKGdd5Azc=">AAACgnicbVFNT9wwEPWmFGja8tVjL1F3K1U9rGIQggMHUHvopYJKLIu0iZDjTBZrY8eyneXD8o/gCr+Mf1NnN4cGOpLlpzdvZp49mSyZNnH83AverLxdXVt/F77/8HFjc2t750JXtaIwolVZqcuMaCiZgJFhpoRLqYDwrIRxNvvR5MdzUJpV4tzcSUg5mQpWMEqMp8aDQXgaDgZXW/14GC8ieg1wC/qojbOr7R4keUVrDsLQkmg9wbE0qSXKMFqCC5NagyR0RqYw8VAQDjq1C78u+uqZPCoq5Y8w0YL9t8ISrvUdz7ySE3OtX+Ya8r+5XDcNO9Nto1K60F22llMFMOsazedM6tbq7dJr9yGmOEwtE7I2IKiLojARcEMrzonIbTIH4yY4tQkIXStoBlubNFdWRH3snO/2E/x3KfjtyZNSXpMMzFIi76mzp+fY2QXizjL/EL8Y/HINr8HF7hDvD+M/u/1j3K5oHX1GX9A3hNEBOka/0BkaIYpm6AE9oqdgJfge4GBvKQ16bc0n1Ing6C8shcaa</latexit>

O
ry
<latexit sha1_base64="x4Aep94NHEdPsJU/rtKHhE8r+Ec=">AAACmXicbVFNb9QwEPWmQEv42pZje4jYReK0SioQPbaCQ4WEWkS3rbSJVo4z2VprO5btLF0sX/g1XOHf8G9wsjmQlpFGfnrz5suTS0a1ieM/g2DrwcNH2zuPwydPnz1/Mdzdu9RVrQhMScUqdZ1jDYwKmBpqGFxLBZjnDK7y5YcmfrUCpWklLsxaQsbxQtCSEmw8NR8ejMdhauDWtKVszmpwVs3XLgrH4/lwFE/i1qL7IOnACHV2Pt8dQFpUpOYgDGFY61kSS5NZrAwlDFyY1hokJku8gJmHAnPQmW17u+i1Z4qorJR3YaKW/TfDYq71mudeybG50XdjDfnfWKGbgr3utlEpXeo+W8uFAlj2By1WVOpu1NvNrP1FTHmUWSpkbUAQF0VhKuAbqTjHorDpCoybJZlNQehaQdPY2rR58jIaJc75ah/Bf5eCz548YfIG52A2EvmdOHt2kTjbIu4s9Yv4wyR3z3AfXB5OkneT+Mvh6Phtd6IdtI9eoTcoQe/RMTpF52iKCPqBfqJf6HewH5wEp8GnjTQYdDkvUc+Cr38BEJzQkw==</latexit>

y
<latexit sha1_base64="qWx8/cu2aMTMUWHnup+hkbdF3Bo=">AAACgnicbVFBb9MwFHbDYCMw2ODIJaKdNO1QxQO0HTgMwYELokjrWqmJKsd56azGjmU7HcXyj+AKv4x/g9PmQFaeZPnT97733me/TJZMmzj+0wse7D18tH/wOHzy9PDZ86PjFze6qhWFMa3KSk0zoqFkAsaGmRKmUgHhWQmTbPmxyU9WoDSrxLVZS0g5WQhWMEqMpyaDQbgOB4P5UT8expuIdgFuQR+1MZof9yDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0Knd+HXRiWfyqKiUP8JEG/bfCku41mueeSUn5lbfzzXkf3O5bhp2pttGpXShu2wtFwpg2TWar5jUrdXvW6/dh5jiMrVMyNqAoC6KwkTAHa04JyK3yQqMm+HUJiB0raAZbG3SXFkR9bFzvtsn8N+l4IsnP5TylmRgthL5gzr79Ro7u0HcWeYf4heD769hF9ycD/G7YfztvH/1tl3RAXqFXqNThNEFukKf0QiNEUVL9BP9Qr+DveAswMGbrTTotTUvUSeC938BhdrGxw==</latexit>

L’angle ✓ est considéré comme positif


<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

rx
<latexit sha1_base64="Y45X4AxHucg9GSSqMa2eHM2uHUg=">AAACmXicbVFNb9QwEPWmQEv42pZje4jYReK0SioQPbaCQ4WEWkS3rbSJVo4z2VprO5btLFssX/g1XOHf8G9wsjmQlpFGfnrz5suTS0a1ieM/g2DrwcNH2zuPwydPnz1/Mdzdu9RVrQhMScUqdZ1jDYwKmBpqGFxLBZjnDK7y5YcmfrUCpWklLsythIzjhaAlJdh4aj48GI/D1MDatKVszmpwVs3XLgrH4/lwFE/i1qL7IOnACHV2Pt8dQFpUpOYgDGFY61kSS5NZrAwlDFyY1hokJku8gJmHAnPQmW17u+i1Z4qorJR3YaKW/TfDYq71Lc+9kmNzo+/GGvK/sUI3BXvdbaNSutR9tpYLBbDsD1qsqNTdqOvNrP1FTHmUWSpkbUAQF0VhKuAbqTjHorDpCoybJZlNQehaQdPY2rR58jIaJc75ah/Bf5eCz548YfIG52A2EvmdOHt2kTjbIu4s9Yv4wyR3z3AfXB5OkneT+Mvh6Phtd6IdtI9eoTcoQe/RMTpF52iKCPqBfqJf6HewH5wEp8GnjTQYdDkvUc+Cr38BDn/Qkg==</latexit>

si la rotation autour de l’axe r est


<latexit sha1_base64="FdfH0iWAXKodHZVzBTTYqe7uxSw=">AAACiHicbVHLTtwwFPWElkdKKY8lm4iZSqxGCWoF7HgtukGAxADSJEKOczNYEzuu7QwPy9/Btv2s/g1OyIJAr2T56Nz3PakoqNJh+K/nzX36PL+wuOR/Wf668m11bf1KlZUkMCJlUcqbFCsoKIeRprqAGyEBs7SA63R6XPuvZyAVLfmlfhSQMDzhNKcEa0clg4Efz0Abaf3B4Ha1Hw7DxoKPIGpBH7V2frvWgzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OyYL8lK6x3XQsG8zDGZKPbLURTKs79R7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rD66zdRXS+lxjKRaWBExsEfszhnpSMYZ6Z+px2HCUmBq4qCXVjY+L6S/OgH1nrqp2AO5eEU0ceFuIOp06CJkQ8EWvOLiNrGsSsoW4RJ0z0XoaP4GpnGP0chhc7/YMfrUSLaBNtoW0UoV10gH6hczRCBP1Gz+gP+uv5XujtevuvoV6vzdlAHfOOXgDwmMmf</latexit>

faite dans le sens anti-horaire


x
<latexit sha1_base64="taQSE4NaEOty8gKKaULIvxR/WIs=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUMreuCCKFK3W2kTVY4z2bU2dizbWdpa/hFc6S/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+ZcmP16A0qwSV+ZeQsrJVLCCUWI8NR4MwrtwMLjd78fDeBnRc4Bb0EdtXN4e9CDJK1pzEIaWROsJjqVJLVGG0RJcmNQaJKFzMoWJh4Jw0Kld+nXRO8/kUVEpf4SJluy/FZZwre955pWcmJl+mmvI/+Zy3TTsTLeNSulCd9laThXAvGs0XzCpW6t3K6/dh5jiU2qZkLUBQV0UhYmAn7TinIjcJgswboJTm4DQtYJmsLVJc2VF1MfO+W4X4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Av9Ro/BevAhwMHxShr02prXqBPB57+Dv8bG</latexit>

29
Angle et axe
• Matrice de rotation qui correspond à un angle ✓ et à un axe r donnés:
<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

<latexit sha1_base64="FdfH0iWAXKodHZVzBTTYqe7uxSw=">AAACiHicbVHLTtwwFPWElkdKKY8lm4iZSqxGCWoF7HgtukGAxADSJEKOczNYEzuu7QwPy9/Btv2s/g1OyIJAr2T56Nz3PakoqNJh+K/nzX36PL+wuOR/Wf668m11bf1KlZUkMCJlUcqbFCsoKIeRprqAGyEBs7SA63R6XPuvZyAVLfmlfhSQMDzhNKcEa0clg4Efz0Abaf3B4Ha1Hw7DxoKPIGpBH7V2frvWgzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OyYL8lK6x3XQsG8zDGZKPbLURTKs79R7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rD66zdRXS+lxjKRaWBExsEfszhnpSMYZ6Z+px2HCUmBq4qCXVjY+L6S/OgH1nrqp2AO5eEU0ceFuIOp06CJkQ8EWvOLiNrGsSsoW4RJ0z0XoaP4GpnGP0chhc7/YMfrUSLaBNtoW0UoV10gH6hczRCBP1Gz+gP+uv5XujtevuvoV6vzdlAHfOOXgDwmMmf</latexit>

2 3
rx2 (1
<latexit sha1_base64="jS/aWWbX5PdK/7d2LhvBnsTTzeg=">AAAEWnicjVPdb9MwEE+zAlvGxwa88eLRgor6oaQSghekofHAC2KgdZtUd5XjXlqr+ZLtlraW/1Ck/TE4aaQtaytxUpTz3e/ufndn+2nIhHTdvxV7r/ro8ZP9A+fw6bPnL46OX16KZMYp9GgSJvzaJwJCFkNPMhnCdcqBRH4IV/70LPNfzYELlsQXcpnCICLjmAWMEmlMw+PKbb3u4DlI9Vs3sJyAJC3cyg1cf0C49QW3kINDCGQfnzjYhzGLFeGcLLWilGqHDxc33YaH2ogO1TqDCWzeO6H3yID4cLmBahvHSmwAV1vSmfA7IJ6LlFBQbsejkcbY2ZG/uSX/8n/YLreRyNgudpNAzg7y7TL53QWa5QIZ8Ka7FXd3cjDEo2IhDj7BnI0ncoCMOPX68Kjmdtxc0KbiFUrNKuTc3AfAo4TOIoglDYkQfc9N5cDkl4yGYCrMBJiup2QMfaPGJAIxUPk91OidsYxQkHDzxRLl1vsRikRCLCPfICMiJ+KhLzNu9Y1ElrBUXWUoLgJRts7SMQeYlomO5iwVBdXFmmu5ERl8HigWpzMJMdVmdDiGPzSJImJmmz0G3fcGykxazDhkhZXC2c8PUM3T2mT7BmZcHH4Y49cwnRDfPKAckq6oVj8vPK1yLdKKmUbMYryHa9hULrsd72PH/dWtnXaLFe1bb6y3VsPyrE/WqfXdOrd6FrXPbGZzW+zdVu3qQfVwDbUrRcwrqyTV1/8ASRBoDA==</latexit>

c✓ ) + c✓ rx ry (1 c ✓ ) rz s ✓ rx rz (1 c ✓ ) + ry s ✓
6 7
R(✓, r) = 4 rx ry (1 c ✓ ) + rz s ✓ ry2 (1 c✓ ) + c✓ ry rz (1 c ✓ ) rx s ✓ 5
rx rz (1 c✓ ) ry s ✓ ry rz (1 c ✓ ) + rx s ✓ rz2 (1 c✓ ) + c✓
où, à nouveau, pour plus de simplicité, c✓ = cos ✓, s✓ = sin ✓
<latexit sha1_base64="l4zqi8PImK1kO0smhZTlBqFJzic=">AAACt3icbVFLb9QwEPaGR9vltYUjF4tdJA7VKlkJ8ZAqFcGBC6JI3bbSJoocZ7Jrbey4trOlWP4v/BqucO2/wdnkQFpGsvzNN++ZTJZMmzC8HgR37t67v7O7N3zw8NHjJ6P9p6e6qhWFOa3KSp1nREPJBMwNMyWcSwWEZyWcZeuPjf1sA0qzSpyYKwkJJ0vBCkaJ8VQ6ej+ZDGlqY7MCQxw+xDGtdKsdxAdY90yaiVbDeDiZpKNxOA23gm+DqANj1Mlxuj+AOK9ozUEYWhKtF1EoTWKJMoyW4IZxrUESuiZLWHgoCAed2O2QDr/0TI6LSvknDN6y/0ZYwrW+4pn35MSs9E1bQ/7XlusmYa+6bbyULnSfreVSAaz7jeYbJnXX6ve21/4gpnibWCZkbUBQ51cXC7ikFedE5DbegHGLKLExCF0raApbGzdfVuBx5JzP9gn8uhR88eSHUq5IBqZ1kT+os19PIme3iDvL/CD+MNHNM9wGp7Np9HoafpuNj2bdiXbRc/QCvUIReoOO0Gd0jOaIop/oF/qN/gTvgjQoglXrGgy6mGeoJ8HFX8uY2xw=</latexit>

• Une formule plus compacte (formule de Rodrigues) est:


<latexit sha1_base64="l7aVtLoYUPybdmO7G7JmDtrFfDw=">AAADLnicbVLLbtQwFHXCq4TXFBYs2LjMgFiUUVJRwQapCARsEEXqtJXGo5Hj3GSsSZxgO9OZWv4n+BkkFogtn4GTyYJpuZLlo3PPffhex1XOlQ7Dn55/5eq16ze2bga3bt+5e6+3ff9YlbVkMGJlXsrTmCrIuYCR5jqH00oCLeIcTuL528Z/sgCpeCmO9KqCSUEzwVPOqHbUtPd9MAjIGU9gRrUhC9BGWosx2SVaciqyHL6SXRyQHFI9JjtkJyAxZFwYKiVdWcMYs0GIn+LncnruLjldkYWqKAMTDsMX+6ywhARrXydbXhbgwPGrNnzZCAMCIulKBE1VInk20xMcDAbTXt8FtoYvg6gDfdTZ4XTbA5KUrC5AaJZTpcZRWOmJS685y8EVqBW4huY0g7GDghagJqadrcVPHJPgtJTuCI1b9t8IQwulVkXslAXVM3XR15D/9SWqSbhR3TQqqVK1ydZVJgHmm40mC16prtXlutfNh+j01cRwUdUaBHMrDYiAM1YWBXWjbTZtx9HEuEGrWkJT2BjSXHGK+5G1Lts7cOOS8MmRb/JqRmP3O1pJdc6s+XwUWdOiwhruHuIWE11cw2VwvDeM9ofhl73+QditaAs9Qo/RMxShl+gAfUSHaISY99B77b33Pvjf/B/+L//3Wup7XcwDtGH+n78GvAHr</latexit>

2 3
0 rz ry
r2 (1 cos ✓) avec br , 4 rz rx 5
<latexit sha1_base64="3x71IR/SxLN8h40hvVO70BFhros=">AAAC9nicdVFBb9MwFHYCYyPA1sGRS0SL1IlSJUVouyANwQEOiIHWbVJdKsd5aa0mTmQ73Yrlv8INceXvcOKv4KQ5kA2eZPl73/ve8/N7UZEyqYLgl+Peur11Z3vnrnfv/oPdvc7+wzOZl4LCmOZpLi4iIiFlHMaKqRQuCgEki1I4j5Zvqvj5CoRkOT9V6wKmGZlzljBKlKVmnXWv5+EVKP3Z9LFagCIDPKgJYQ58PHiFB37tvjezF9Z/VvmXLIYFUbrRGSwZ3yT/T/Fl1A+fY5rLjezA6/VmnW4wDGrzb4KwAV3U2Mls3wEc57TMgCuaEiknYVCoqSZCMZqC8XApoSB0SeYwsZCTDORU1zMy/lPLxH6SC3u48mv27wxNMinXWWSVGVELeT1Wkf+MxbIq2HpdVyohE9lmy2IuAJbtRuMVK2TT6tWm1/ZHVHI01YwXpQJOje97mMMlzbOM8Lier5mEU42By1JA9bDWuLqixO+Gxthqb8GOS8AHS75OiwWJ7E5qSfGVGv3xNDS6RpnRzH7ELia8voab4Gw0DF8Og0+j7vGoWdEOeoyeoD4K0SE6Ru/QCRojin47W86us+deud/c7+6PjdR1mpxHqGXuzz9RXPF+</latexit>

R(✓, r) = I3 + b
r sin ✓ + b 0
ry rx 0
Propriété: r
<latexit sha1_base64="FdfH0iWAXKodHZVzBTTYqe7uxSw=">AAACiHicbVHLTtwwFPWElkdKKY8lm4iZSqxGCWoF7HgtukGAxADSJEKOczNYEzuu7QwPy9/Btv2s/g1OyIJAr2T56Nz3PakoqNJh+K/nzX36PL+wuOR/Wf668m11bf1KlZUkMCJlUcqbFCsoKIeRprqAGyEBs7SA63R6XPuvZyAVLfmlfhSQMDzhNKcEa0clg4Efz0Abaf3B4Ha1Hw7DxoKPIGpBH7V2frvWgzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OyYL8lK6x3XQsG8zDGZKPbLURTKs79R7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rD66zdRXS+lxjKRaWBExsEfszhnpSMYZ6Z+px2HCUmBq4qCXVjY+L6S/OgH1nrqp2AO5eEU0ceFuIOp06CJkQ8EWvOLiNrGsSsoW4RJ0z0XoaP4GpnGP0chhc7/YMfrUSLaBNtoW0UoV10gH6hczRCBP1Gz+gP+uv5XujtevuvoV6vzdlAHfOOXgDwmMmf</latexit>

<latexit sha1_base64="ej4zsVzkJvvIpIFco2bk9x0wAF0=">AAACwHicbVFbb9MwFHbDbZRbB4+8RLRIQ+qqZNLEXiYNxgMviIHWbVIdVY5z0lqNHWM7hc3yD+LX8Mr+DU4WJrJxJMufvvOdeyoLpk0UXfaCO3fv3X+w8bD/6PGTp88Gm89PdFkpClNaFqU6S4mGggmYGmYKOJMKCE8LOE1Xh7X/dA1Ks1Icm3MJCScLwXJGifHUfHA4GvXxGoz96ra2sVmCIWM83m4o5d6EeLyPx+FfxbXg2h/2R6P5YBhNosbC2yBuwRC1djTf7AHOSlpxEIYWROtZHEmTWKIMowW4Pq40SEJXZAEzDwXhoBPbTOvC157JwrxU/gkTNuy/EZZwrc956pWcmKW+6avJ//oyXSfsVLe1Sulcd9lKLhTAqttotmZSt63+uOq1O4jJ9xLLhKwMCOr86rCA77TknIjM1ht1szixGISuFNSFrcX1l+bhMHbOZ/sAfl0KPnnyXSGXJPVXaCTygjr7+Th2tkHcWeYH8YeJb57hNjjZmcS7k+jLzvBgtz3RBnqJXqEtFKO36AB9REdoiij6iX6h3+gyeB8sgzL4diUNem3MC9Sx4OIPGkbeAQ==</latexit>

R( ✓, r) = R(✓, r) ✓
<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

• Ça veut dire que une rotation d’un angle ✓ autour de l’axe r ne


<latexit sha1_base64="RVsz5O5npdq1G7qhWgmgEl7W+o4=">AAACiHicbVFNT9wwEPWmtNBQCrRHLhG7lXphlayEgBsfPXBBBYkFpE2EHGeya23sGNtZPiz/jl7Lz+q/qbObAwFGsvz05s3MsycVBVU6DP91vA9LHz8tr3z2V7+sfV3f2Px2pcpKEhiSsijlTYoVFJTDUFNdwI2QgFlawHU6Panz1zOQipb8Uj8KSBgec5pTgrWjkl7P34n1BDT2e73bjW7YD+cRvAVRA7qoifPbzQ7EWUkqBlyTAis1ikKhE4OlpqQA68eVAoHJFI9h5CDHDFRi5q5t8MMxWZCX0h2ugzn7ssJgptQjS52SYT1Rr3M1+W4uU3XD1nRTq6TKVZutxFgCTNtGsxkVqrH6sPDafojO9xNDuag0cGKDwI853JOSMcwzE89A21GUmBi4qiTUg42J6yvNg25krev2C9x3SThz5FEhJjgFvZCIJ2LN78vImjli1lD3ELeY6PUa3oKrQT/a7YcXg+7hoFnRCtpC2+gnitAeOkSn6BwNEUF36A/6i5493wu9Pe9gIfU6Tc131Arv+D/1z8kn</latexit>

<latexit sha1_base64="FIZXAX8H+2H4kdZqEEfRwCFNb7M=">AAACiXicbVHLbtQwFPUE+iB9w5JNxAxSNx3FVRFVV0VlwQZRpE5baZJWjnMzY03sWLYzbbH8H2zhr/gbnDQL0nIly0fnvu/JZMm0ieM/g+DFy5XVtfVX4cbm1vbO7t7rS13VisKEVmWlrjOioWQCJoaZEq6lAsKzEq6yxVnjv1qC0qwSF+ZBQsrJTLCCUWI8dTMahQfJEoxVLhyNbneH8ThuLXoOcAeGqLPz270BJHlFaw7C0JJoPcWxNKklyjBagguTWoMkdEFmMPVQEA46te3YLnrvmTwqKuWfMFHL/pthCdf6gWc+khMz1099DflfX66bgr3utolSutB9tpYzBbDoD5ovmdTdqPePs/YXMcVxapmQtQFBXRSFiYA7WnFORG6bc7opTm0CQtcKmsbWJs2XFdEQO+erfQZ/LgVfPfmplHOSeQnaEPmDOvvtAjvbIu4s84t4YfBTGZ6Dy8Mx/jCOvx8OT486idbRW/QO7SOMPqJT9AWdowmiSKGf6Bf6HWwEODgOTh5Dg0GX8wb1LDj7C3aDydY=</latexit>

peut pas être distinguée d’un rotation d’un angle ✓ autour de l’axe r
<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

<latexit sha1_base64="FdfH0iWAXKodHZVzBTTYqe7uxSw=">AAACiHicbVHLTtwwFPWElkdKKY8lm4iZSqxGCWoF7HgtukGAxADSJEKOczNYEzuu7QwPy9/Btv2s/g1OyIJAr2T56Nz3PakoqNJh+K/nzX36PL+wuOR/Wf668m11bf1KlZUkMCJlUcqbFCsoKIeRprqAGyEBs7SA63R6XPuvZyAVLfmlfhSQMDzhNKcEa0clg4Efz0Abaf3B4Ha1Hw7DxoKPIGpBH7V2frvWgzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OyYL8lK6x3XQsG8zDGZKPbLURTKs79R7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rD66zdRXS+lxjKRaWBExsEfszhnpSMYZ6Z+px2HCUmBq4qCXVjY+L6S/OgH1nrqp2AO5eEU0ceFuIOp06CJkQ8EWvOLiNrGsSsoW4RJ0z0XoaP4GpnGP0chhc7/YMfrUSLaBNtoW0UoV10gH6hczRCBP1Gz+gP+uv5XujtevuvoV6vzdlAHfOOXgDwmMmf</latexit>


<latexit sha1_base64="RVsz5O5npdq1G7qhWgmgEl7W+o4=">AAACiHicbVFNT9wwEPWmtNBQCrRHLhG7lXphlayEgBsfPXBBBYkFpE2EHGeya23sGNtZPiz/jl7Lz+q/qbObAwFGsvz05s3MsycVBVU6DP91vA9LHz8tr3z2V7+sfV3f2Px2pcpKEhiSsijlTYoVFJTDUFNdwI2QgFlawHU6Panz1zOQipb8Uj8KSBgec5pTgrWjkl7P34n1BDT2e73bjW7YD+cRvAVRA7qoifPbzQ7EWUkqBlyTAis1ikKhE4OlpqQA68eVAoHJFI9h5CDHDFRi5q5t8MMxWZCX0h2ugzn7ssJgptQjS52SYT1Rr3M1+W4uU3XD1nRTq6TKVZutxFgCTNtGsxkVqrH6sPDafojO9xNDuag0cGKDwI853JOSMcwzE89A21GUmBi4qiTUg42J6yvNg25krev2C9x3SThz5FEhJjgFvZCIJ2LN78vImjli1lD3ELeY6PUa3oKrQT/a7YcXg+7hoFnRCtpC2+gnitAeOkSn6BwNEUF36A/6i5493wu9Pe9gIfU6Tc131Arv+D/1z8kn</latexit>

• La représentation angle et axe n’est pas unique ! <latexit sha1_base64="FIZXAX8H+2H4kdZqEEfRwCFNb7M=">AAACiXicbVHLbtQwFPUE+iB9w5JNxAxSNx3FVRFVV0VlwQZRpE5baZJWjnMzY03sWLYzbbH8H2zhr/gbnDQL0nIly0fnvu/JZMm0ieM/g+DFy5XVtfVX4cbm1vbO7t7rS13VisKEVmWlrjOioWQCJoaZEq6lAsKzEq6yxVnjv1qC0qwSF+ZBQsrJTLCCUWI8dTMahQfJEoxVLhyNbneH8ThuLXoOcAeGqLPz270BJHlFaw7C0JJoPcWxNKklyjBagguTWoMkdEFmMPVQEA46te3YLnrvmTwqKuWfMFHL/pthCdf6gWc+khMz1099DflfX66bgr3utolSutB9tpYzBbDoD5ovmdTdqPePs/YXMcVxapmQtQFBXRSFiYA7WnFORG6bc7opTm0CQtcKmsbWJs2XFdEQO+erfQZ/LgVfPfmplHOSeQnaEPmDOvvtAjvbIu4s84t4YfBTGZ6Dy8Mx/jCOvx8OT486idbRW/QO7SOMPqJT9AWdowmiSKGf6Bf6HWwEODgOTh5Dg0GX8wb1LDj7C3aDydY=</latexit>

r
30
Angle et axe
Problème inverse: déterminer l’angle et l’axe qui correspondent à une matrice
de rotation R donnée: 2 3
<latexit sha1_base64="mK4JozKFwenocPb/DymukV0oy4s=">AAACiHicbVHLTtwwFPUESmloeS67iZhB6mqUgBBlR4EFm6qAGECaRMhxbgZrYsfYzhSw/B3dls/q39QJWRDgSpaPzn3fk4qCKh2G/3re3PyHhY+Ln/ylz1+WV1bX1i9VWUkCI1IWpbxOsYKCchhpqgu4FhIwSwu4SqdHtf9qBlLRkl/oBwEJwxNOc0qwdlQyGPjxDLQ5t/5gcLPaD4dhY8FbELWgj1o7vVnrQZyVpGLANSmwUuMoFDoxWGpKCrB+XCkQmEzxBMYOcsxAJaaZ2gZbjsmCvJTucR007MsMg5lSDyx1kQzrW/XaV5Pv+jJVF+x0N3WUVLnqspWYSIBpd9BsRoVqR71/nrW7iM6/J4ZyUWngxAaBH3P4TUrGMM9MfU47jhITA1eVhLqxMXH9pXnQj6x11Y7BnUvCT0f+KMQtTp0ETYh4JNb8uoisaRCzhrpFnDDRaxnegsvtYbQ7DM+2+wc7rUSL6CvaRN9QhPbQATpBp2iECLpDf9Bf9OT5XujtefvPoV6vzdlAHfMO/wOsy8l+</latexit>

<latexit sha1_base64="LMeq7DxABqjPIRxRGAxPri6l1mU=">AAADLHicdVJbb9MwFHbCbYTLOhBPvES0IB6qKk5BICGkIYbEC2KgdZtUR5XjnLRWEyeynbJh+S/Bn+EFIV75HThdi+gGR7L86Tufz9VpXXClo+i751+6fOXqta3rwY2bt25vd3buHKqqkQxGrCoqeZxSBQUXMNJcF3BcS6BlWsBROn/d+o8WIBWvxIE+rSEp6VTwnDOqHTXpfO31ArIAbT7akPRfkn5ICsj1mPQDksKUC1NSLfmJDeTEYGzDR2EL4jUYWrJQNWVgogHGrLSEtMp4rYzXyvg/yuFaOVwrh0MbEBDZn8ykTySfznQS9HqTTjcaREsLLwK8Al20sv3Jjgckq1hTgtCsoEqNcVTrxFCpOSvARW8UuLLmdApjBwUtQSVmOVkbPnRMFuaVdEfocMn+/cLQUqnTMnVKV+1Mnfe15D99mWoDbmRv+51JlatNtqmnEmC+WWi24LValXpyVutmIzp/nhgu6kaDYDYMAyLgE6vKkrrBtgu3Y5wYN2bVSGgTG0PaK83DLrbWRdsDNy4J7xz5qqhnNHWfZCmpPzNr3h9ga5aotIa7Rtxi8Pk1XASH8QA/HUQf4u7uk9WKttB99AA9Rhg9Q7voLdpHI8S8e94Lb89743/xv/k//J9nUt9bvbmLNsz/9Ru8fAFs</latexit>

r11 r12 r13


6 7
R = 4 r21 r22 r23 5
r31 r32 r33
• Si sin ✓ 6= 0, on obtient:
<latexit sha1_base64="IsbKfW3vWHn0tYbqTkZWCDeCrEo=">AAAClHicbVFNb9MwGHbDgC18dSBtBy4WLRKnKqmE2IHD0EDisi9p3SY1UeU4b1qrsePZTmFY/jVc4Qfxb3DaHMjGK1l+9LzP+53JkmkTRX96wYOth48eb++ET54+e/6iv/vyUle1ojChVVmp64xoKJmAiWGmhGupgPCshKtsedT4r1agNKvEhbmVkHIyF6xglBhPzfr7w2GYaCYSswBDcCLgBkfhcDjrD6JRtDZ8H8QtGKDWzma7PUjyitYchKEl0XoaR9KklijDaAkuTGoNktAlmcPUQ0E46NSuJ3D4rWdyXFTKP2Hwmv03whKu9S3PvJITs9B3fQ35X1+um4Sd6rZRKV3oLlvLuQJYdhvNV0zqttXvm167g5jiILVMyNqAoA7j0G/wG604JyK3yQqMm8apTUDoWkFT2Nqk+bICD2LnfLbP4Nel4NiTn0q5IBmYjUT+oM6eXsTOrhF3lvlB/GHiu2e4Dy7Ho/j9KDofDw7H7Ym20Wv0Br1DMfqADtFXdIYmiCKHfqJf6HewF3wMjoIvG2nQa2NeoY4FJ38Bm/XNRQ==</latexit>

<latexit sha1_base64="+ATwhkNpTXz2fYPxZHEOJuAjDRg=">AAAC1HicbVFNb9MwGHbD1whfHRy5RLRIQ2xVnAmxC9IQHLgghrS2k+qqctw3jdXYiWynYxifEFf+ET+EM1f4DzhtD2Tjlaz30fN++0mrgmsTxz87wbXrN27e2rkd3rl77/6D7u7DkS5rxWDIyqJUZynVUHAJQ8NNAWeVAirSAsbp8k0TH69AaV7KU3NRwVTQheQZZ9R4atYd9/shMTkYGpH9V2Q/IlQxVmqS64oysAfxIMZMOFJAZvZIpiizamYxds+9S5K1Ozx0B9jZxBHFF7l5Fvb7s27PV64tugrwFvTQ1k5mux0g85LVAqRhBdV6guPKTC1VhrMCXEhqDX6lJV3AxENJBeipXf+Ai556Zh5lpfJPmmjN/lthqdD6QqQ+U1CT68uxhvxvbK6bhq3ptslSOtNttq4WCmDZXnS+4pXervpps2v7EJMdTS2XVW1AMhdFIZFwzkohqJxbsgLjJnhqCUhdK2gGW0sal2ZRDzvnu70F/10K3nvydVHlNAWzSak+M2c/nHph1kg4y/0hXhh8WYarYJQM8ItB/DHpHSdbiXbQY/QE7SGMXqJj9A6doCFi6Af6hX6jP8Eo+BJ8Db5tUoPOtuYRalnw/S95HOYe</latexit>

✓ ◆
r11 + r22 + r33 1
✓ = arccos Angle
2
2 3
<latexit sha1_base64="2gtOhIL1pNMDEQKQIwkV6dzJmCA=">AAADJnicbVJNb9MwGHbCx0b4WDeOXDJaJA6jilNNcBkMwYELYkjrNqmOKsd901pNnMh2CsXy/4E/ww0hbvwUnCwHuu2VLD96nvfL7+u0yrnSUfTH82/dvnN3a/tecP/Bw0c7vd29M1XWksGYlXkpL1KqIOcCxprrHC4qCbRIczhPl+8a/XwFUvFSnOp1BUlB54JnnFHtqGnvx2AQkBVoI21IDo7IQUgySZnB1sREcUH0AjS1Ackh0xOyT/YDksKcC0OlpGtrmA3k1Ixi+8Jd8ciSlaooAxMNMWaFJaSR8aiVR/hmOcatjGNXB8SsSx001Yjk84VOgsFg2utHw6i18DrAHeijzk6mux6QWcnqAoRmOVVqgqNKJy675iwHl79W4JpZ0jlMHBS0AJWYdqY2fOaYWZiV0h2hw5b9P8LQQql1kTrPguqFuqo15I3aTDUJN6qbxkuqTG2ydTWXAMvNRmcrXqmu1a+XvW4+RGevEsNFVWsQzIZhQAR8YWVRUDfZZtV2ghPj5qxqCU1hY0hzpVnYx9a6bO/BjUvCR0e+zasFTd33aF2qb8yaT6fub7SosIa7h7jF4KtruA7O4iE+HEaf4/5x3K1oGz1BT9FzhNFLdIw+oBM0Rszb8Q69194b/7v/0//l/7509b0u5jHaMP/vP+wYAqo=</latexit>

r32 r23
1 6 7
r = 4 r13 r31 5 Axe
2 sin ✓
r21 r12
Remarques:
• Les deux expressions précédentes décrivent la rotation en fonction de
quatre paramètres: l’angle et les trois composantes du vecteur unitaire de l’axe
• Cependant, on peut constater que les trois composantes rx , ry , rz du vecteur r
<latexit sha1_base64="K1tUD1BXYPxXtgBi6Wzu0IVaq0Y=">AAACk3icbVHLbtQwFPWER0t4TUGwYRMxg8SiGiUjoVbqpkAX3VQUqdNWmkSR49xMrYkdy3aGTo1/hi38EH9TJ5MFabmS7aNzz335ZqKkSofh34H34OGjx1vbT/ynz56/eDnceXWuqloSmJGqrORlhhWUlMNMU13CpZCAWVbCRbb82vgvViAVrfiZXgtIGF5wWlCCtaPS4dvx2Jfp9W68K9N1e98E/nicDkfhJGwtuA+iDoxQZ6fpzgDivCI1A65JiZWaR6HQicFSU1KC9eNagcBkiRcwd5BjBiox7QA2+OCYPCgq6Q7XQcv+G2EwU2rNMqdkWF+pu76G/K8vV03CXnXTqKQqVJ+txUICLPuN5isqVNfq9abX/iC62E8M5aLWwIkNAj/m8INUjGGem3gF2s6jxMTAVS2hKWxM3DxZEYwia122I3DfJeHEkZ9LcYUz0BuJuCHWfDuLrGkRs4a6QdxiortruA/Op5Po0yT8Ph0dTrsVbaN36D36iCK0hw7RMTpFM0TQT/QL/UZ/vDfegffFO9pIvUEX8xr1zDu5BdHnzHk=</latexit>

<latexit sha1_base64="vr6HlBYpBv+pTXlk2jVJeq+/blI=">AAACiXicbVHLTtwwFPWk5dHwKLTLbqLOILEaxaAKxIpquuimKpUYQJoE5Dg3gzWxY9nO0Knl/+i2/av+TZ2QRQO9kuWjc9/3ZLJk2sTxn0Hw4uXa+sbmq3Bre2f39d7+mytd1YrClFZlpW4yoqFkAqaGmRJupALCsxKus8Wk8V8vQWlWiUuzkpByMhesYJQYT92ORmGyBGOVi8LR6G5vGI/j1qLnAHdgiDq7uNsfQJJXtOYgDC2J1jMcS5NaogyjJbgwqTVIQhdkDjMPBeGgU9uO7aIDz+RRUSn/hIla9t8MS7jWK575SE7MvX7qa8j/+nLdFOx1t02U0oXus7WcK4BFf9B8yaTuRv3+OGt/EVOcppYJWRsQ1EVRmAh4oBXnROS2uaeb4dQmIHStoGlsbdJ8WRENsXO+2ifw51LwxZMfS3lPMq9BGyJ/UGe/XmJnW8SdZX4RLwx+KsNzcHU0xh/G8bej4flxJ9Emeofeo0OE0Qk6R5/RBZoiihT6iX6h38FWgIPT4OwxNBh0OW9Rz4LJX1yxycg=</latexit>

ne sont pas indépendantes mais elles sont contraintes par la condition:

rx2 + ry2 + rz2 = 1


<latexit sha1_base64="ox7CJ7AgtX+ThGZXMge1pWJCkJk=">AAACqXicbZHdbtMwFMfd8DXCVweX3Fi0SEirqqQIwQ3SEFxwg9ikdatoQuU4J53V2LFsp6yz/BI8DbfwFrwNTpuLZeNIln/6nw+f45PJkmkTRX97wa3bd+7e27sfPnj46PGT/v7TU13VisKUVmWlZhnRUDIBU8NMCTOpgPCshLNs9bHxn61BaVaJE7ORkHKyFKxglBgvLfqj4TBU3yeLC5yMDpIRbnhzhS89v/cc43A4XPQH0TjaGr4JcQsD1NrRYr8HSV7RmoMwtCRaz+NImtQSZRgtwYVJrUESuiJLmHsUhINO7XYsh196JcdFpfwRBm/VqxmWcK03PPORnJhzfd3XiP/15bop2HndNlFKF7qr1nKpAFbdRvM1k7pt9WLXa3cQU7xLLROyNiCowzhMBPygFedE5DZZg3HzOLUJCF0raB62NmmurMCD2Dlf7RP471LwxYsfSnlOMjC7EHlJnf16Eju7Je4s84P4xcTX13ATTifj+M04Op4MDl+3K9pDz9EL9ArF6C06RJ/REZoiin6iX+g3+hMcBMfBLPi2Cw16bc4z1LGA/gM7I9JS</latexit>

31
Angle et axe
• Si sin ✓ = 0 , les équations précédentes ne sont pas définies
<latexit sha1_base64="bmCYoKpj508CVQb3x9IMmMh2gtE=">AAACkXicbVFdb9MwFHXDgBG+OsYbLxYtEk9VsgkBD0hl4wEJoW3Suk1qospxblqrsWPZTmGz/F/2Ov4R/wanzcOycSXLR+eee++xbyZLpk0U/e0FD7YePnq8/SR8+uz5i5f9nVdnuqoVhQmtykpdZERDyQRMDDMlXEgFhGclnGfLwyZ/vgKlWSVOzaWElJO5YAWjxHhq1n89HIaJZiIxCzAEf8FROBzO+oNoFK0D3wdxCwaojePZTg+SvKI1B2FoSbSexpE0qSXKMFqCC5NagyR0SeYw9VAQDjq1a/sOv/NMjotK+SMMXrO3KyzhWl/yzCs5MQt9N9eQ/83lumnYmW4bldKF7rK1nCuAZddovmJSt1Z/b7x2H2KKT6llQtYGBHUYh4mAX7TinIjcJiswbhqnNgGhawXNYGuT5soKPIid892+gf8uBT89+bWUC5KB2UjkFXX26DR2do24s8w/xC8mvruG++BsbxR/GEUne4PxfruibfQGvUXvUYw+ojH6jo7RBFF0ha7RDfoT7Aafg3FwsJEGvbZmF3Ui+PEPLK7LxQ==</latexit>

§ Pour résoudre le problème inverse, il faut travailler avec l’expression


particulière de la matrice R dont on dispose et trouver des formules
<latexit sha1_base64="mK4JozKFwenocPb/DymukV0oy4s=">AAACiHicbVHLTtwwFPUESmloeS67iZhB6mqUgBBlR4EFm6qAGECaRMhxbgZrYsfYzhSw/B3dls/q39QJWRDgSpaPzn3fk4qCKh2G/3re3PyHhY+Ln/ylz1+WV1bX1i9VWUkCI1IWpbxOsYKCchhpqgu4FhIwSwu4SqdHtf9qBlLRkl/oBwEJwxNOc0qwdlQyGPjxDLQ5t/5gcLPaD4dhY8FbELWgj1o7vVnrQZyVpGLANSmwUuMoFDoxWGpKCrB+XCkQmEzxBMYOcsxAJaaZ2gZbjsmCvJTucR007MsMg5lSDyx1kQzrW/XaV5Pv+jJVF+x0N3WUVLnqspWYSIBpd9BsRoVqR71/nrW7iM6/J4ZyUWngxAaBH3P4TUrGMM9MfU47jhITA1eVhLqxMXH9pXnQj6x11Y7BnUvCT0f+KMQtTp0ETYh4JNb8uoisaRCzhrpFnDDRaxnegsvtYbQ7DM+2+wc7rUSL6CvaRN9QhPbQATpBp2iECLpDf9Bf9OT5XujtefvPoV6vzdlAHfMO/wOsy8l+</latexit>

de résolution pour les deux cas: ✓ = ⇡ et ✓ = 0


<latexit sha1_base64="NDtApdOpMKsdV7Dgwovn/9xjyFI=">AAACjXicbVFda9swFFW8bm29j6bb415Ek8Gegh0o3cM6OjbYXkpbaNpCbIIsXyciliwkOVsn9E/2uv2n/ZvJiR/qtheEDueee++RbiZLpk0U/esFT7aePtve2Q2fv3j5aq+///pKV7WiMKFVWambjGgomYCJYaaEG6mA8KyE62z5pclfr0BpVolLcysh5WQuWMEoMZ6a9fvDYZiYBRiCj3EUDoez/iAaRevAD0HcggFq43y234Mkr2jNQRhaEq2ncSRNaokyjJbgwqTWIAldkjlMPRSEg07t2rrD7zyT46JS/giD1+zdCku41rc880pOzELfzzXko7lcNw07022jUrrQXbaWcwWw7BrNV0zq1urPjdfuQ0zxIbVMyNqAoA7jMBHwg1acE5HbZAXGTePUJiB0raAZbG3SXFmBB7FzvttX8N+l4NSTn0u5IBmYjUT+os6eXcbOrhF3lvmH+MXE99fwEFyNR/HhKLoYD07G7Yp20Ft0gN6jGB2hE/QdnaMJomiFfqM/6G+wFxwGH4NPG2nQa2veoE4E3/4DCJzJ9g==</latexit>

<latexit sha1_base64="XTnvhPnE9g1jIx2Ei0JVG1GBba0=">AAACj3icbVHLbtswEKTVV6q+7OTYC1G7QE+GZCBILw1ctIfmUDQF4iSAJRgUtbIJixRBUk5Sgr/Sa/NL+ZtStg5V0gUIDmZnd4fcTJZMmyi66wWPHj95+mzvefji5avXb/qD/XNd1YrCjFZlpS4zoqFkAmaGmRIupQLCsxIusvWXJn+xAaVZJc7MjYSUk6VgBaPEeGrR3x+NwsSswBD8CSeShaPRoj+MxtE28EMQt2CI2jhdDHqQ5BWtOQhDS6L1PI6kSS1RhtESXJjUGiSha7KEuYeCcNCp3Zp3+L1nclxUyh9h8Jb9t8ISrvUNz7ySE7PS93MN+d9crpuGnem2USld6C5by6UCWHeN5hsmdWv1eue1+xBTfEwtE7I2IKjDOEwEXNGKcyJym2zAuHmc2gSErhU0g61Nmisr8DB2znf7Cv67FHz35OdSrkgGZieRv6izP85iZ7eIO8v8Q/xi4vtreAjOJ+P4cBz9nAynk3ZFe+gteoc+oBgdoSn6hk7RDFF0jX6jP+g2GARHwXEw3UmDXltzgDoRnPwFgVfLDw==</latexit>

§ Si ✓ = 0 (rotation nulle), le vecteur unitaire r est arbitraire


<latexit sha1_base64="NDtApdOpMKsdV7Dgwovn/9xjyFI=">AAACjXicbVFda9swFFW8bm29j6bb415Ek8Gegh0o3cM6OjbYXkpbaNpCbIIsXyciliwkOVsn9E/2uv2n/ZvJiR/qtheEDueee++RbiZLpk0U/esFT7aePtve2Q2fv3j5aq+///pKV7WiMKFVWambjGgomYCJYaaEG6mA8KyE62z5pclfr0BpVolLcysh5WQuWMEoMZ6a9fvDYZiYBRiCj3EUDoez/iAaRevAD0HcggFq43y234Mkr2jNQRhaEq2ncSRNaokyjJbgwqTWIAldkjlMPRSEg07t2rrD7zyT46JS/giD1+zdCku41rc880pOzELfzzXko7lcNw07022jUrrQXbaWcwWw7BrNV0zq1urPjdfuQ0zxIbVMyNqAoA7jMBHwg1acE5HbZAXGTePUJiB0raAZbG3SXFmBB7FzvttX8N+l4NSTn0u5IBmYjUT+os6eXcbOrhF3lvmH+MXE99fwEFyNR/HhKLoYD07G7Yp20Ft0gN6jGB2hE/QdnaMJomiFfqM/6G+wFxwGH4NPG2nQa2veoE4E3/4DCJzJ9g==</latexit>

<latexit sha1_base64="vr6HlBYpBv+pTXlk2jVJeq+/blI=">AAACiXicbVHLTtwwFPWk5dHwKLTLbqLOILEaxaAKxIpquuimKpUYQJoE5Dg3gzWxY9nO0Knl/+i2/av+TZ2QRQO9kuWjc9/3ZLJk2sTxn0Hw4uXa+sbmq3Bre2f39d7+mytd1YrClFZlpW4yoqFkAqaGmRJupALCsxKus8Wk8V8vQWlWiUuzkpByMhesYJQYT92ORmGyBGOVi8LR6G5vGI/j1qLnAHdgiDq7uNsfQJJXtOYgDC2J1jMcS5NaogyjJbgwqTVIQhdkDjMPBeGgU9uO7aIDz+RRUSn/hIla9t8MS7jWK575SE7MvX7qa8j/+nLdFOx1t02U0oXus7WcK4BFf9B8yaTuRv3+OGt/EVOcppYJWRsQ1EVRmAh4oBXnROS2uaeb4dQmIHStoGlsbdJ8WRENsXO+2ifw51LwxZMfS3lPMq9BGyJ/UGe/XmJnW8SdZX4RLwx+KsNzcHU0xh/G8bej4flxJ9Emeofeo0OE0Qk6R5/RBZoiihT6iX6h38FWgIPT4OwxNBh0OW9Rz4LJX1yxycg=</latexit>

(singularité de représentation)
<latexit sha1_base64="6mGVrTYssbk4HTO5qZsQQ11D440=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUOrcuCCKFK3W2kTVY4z2bU2dizbWdpa/hG9wi/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+UWTHy9AaVaJK3MvIeVkKljBKDGeGg8G4UM4GNzu9+NhvIzoOcAt6KM2Lm8PepDkFa05CENLovUEx9KklijDaAkuTGoNktA5mcLEQ0E46NQu/bronWfyqKiUP8JES/bfCku41vc880pOzEw/zTXkf3O5bhp2pttGpXShu2wtpwpg3jWaL5jUrdW7ldfuQ0zxKbVMyNqAoC6KwkTAT1pxTkRukwUYN8GpTUDoWkEz2NqkubIi6mPnfLcv4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Ih+od/BevAhwMHxShr02prXqBPB57+H9cbI</latexit>

z
<latexit sha1_base64="k/QjTgbHLJZzvFIm84zC/GcxXaA=">AAACmXicbVHLTtwwFPWkD2j6GsoSFlFnKnU1ShAVXYLaBapUQVUGkCbRyHFuBmtsx7KdKWB5w9d02/5N/6ZOJosGeqUrH5177ss3l4xqE8d/BsGjx0+ebmw+C5+/ePnq9XDrzbmuakVgSipWqcsca2BUwNRQw+BSKsA8Z3CRLz818YsVKE0rcWZuJGQcLwQtKcHGU/Ph7ngcpgauTVvK5qwGZ9X81kXheDwfjuJJ3Fr0ECQdGKHOTudbA0iLitQchCEMaz1LYmkyi5WhhIEL01qDxGSJFzDzUGAOOrNtbxe980wRlZXyLkzUsv9mWMy1vuG5V3JsrvT9WEP+N1bopmCvu21USpe6z9ZyoQCW/UGLFZW6G/V6PWt/EVN+zCwVsjYgiIuiMBXwg1ScY1HYdAXGzZLMpiB0raBpbG3aPHkZjRLnfLXP4L9LwVdPHjF5hXMwa4m8Jc6enCXOtog7S/0i/jDJ/TM8BOd7k+TDJP62Nzrc7060iXbQW/QeJegAHaJjdIqmiKA79BP9Qr+DneAoOA6+rKXBoMvZRj0Lvv8FErnQlA==</latexit>

rz

<latexit sha1_base64="me6ke/AyuZYL9/XXrjBI5U9pDhA=">AAACh3icbVFNT+MwEHUDu0DYXb6OXKJtV9pTN6nExxEEBy4IVqKA1ETIcSat1dixbKd8WP4bXOFv8W9w2hw2sCNZfnrzZubZk4qCKh2Gbx1vafnL15XVNX/92/cfG5tb29eqrCSBISmLUt6mWEFBOQw11QXcCgmYpQXcpNOTOn8zA6loya/0o4CE4TGnOSVYOyru9fxYT0Bjv9e72+yG/XAewWcQNaCLmri82+pAnJWkYsA1KbBSoygUOjFYakoKsH5cKRCYTPEYRg5yzEAlZm7aBr8ckwV5Kd3hOpiz/1YYzJR6ZKlTMqwn6mOuJv+by1TdsDXd1CqpctVmKzGWANO20WxGhWqsPiy8th+i88PEUC4qDZzYIPBjDvekZAzzzMQz0HYUJSYGrioJ9WBj4vpK86AbWeu6nYL7LgnnjjwuxASnoBcS8USsubiKrJkjZg11D3GLiT6u4TO4HvSjvX74d9A92m9WtIp20U/0G0XoAB2hM3SJhogggZ7RC3r11rw/3r53uJB6naZmB7XCO34HcVbI9A==</latexit>

r
<latexit sha1_base64="Oqc5S7cQv+6LcH6oskBw0YAgzZA=">AAACnXicbVHLbtQwFPWER0t4TWHJAosZJFajpBLQZREgseBRpE6n0iQaOc7N1BrbsWxnaLG85WvYwr/wNzhpFqTlSpaPzn3fUyjOjE2SP6Poxs1bt3d278R3791/8HC89+jE1I2mMKc1r/VpQQxwJmFumeVwqjQQUXBYFJu3rX+xBW1YLY/thYJckLVkFaPEBmo1xtNpnFk4t10pV/AGvMu2YJ32HsfT6Wo8SWZJZ/g6SHswQb0drfZGkJU1bQRISzkxZpkmyuaOaMsoBx9njQFF6IasYRmgJAJM7rr+Hj8PTImrWocnLe7YfzMcEcZciCJECmLPzFVfS/7XV5q24KC7a6O0qcyQbdRaA2yGg5Zbpkw/6vnlrMNFbHWQOyZVY0FSj3GcSfhGayGILLuD+mWauwykaTS0jZ3L2q+o8CT1PlR7B+FcGj4F8g1XZ6QIInQh6jv17stx6l2HhHcsLBKESa/KcB2c7M/Sl7Pk6/7k8FUv0S56gp6hFyhFr9Eh+oCO0BxR9AP9RL/Q7+hp9D76GH2+DI1Gfc5jNLBo8ReY8NKI</latexit>

<latexit sha1_base64="mRi9k4yfBIkM8dOSSuUKGdd5Azc=">AAACgnicbVFNT9wwEPWmFGja8tVjL1F3K1U9rGIQggMHUHvopYJKLIu0iZDjTBZrY8eyneXD8o/gCr+Mf1NnN4cGOpLlpzdvZp49mSyZNnH83AverLxdXVt/F77/8HFjc2t750JXtaIwolVZqcuMaCiZgJFhpoRLqYDwrIRxNvvR5MdzUJpV4tzcSUg5mQpWMEqMp8aDQXgaDgZXW/14GC8ieg1wC/qojbOr7R4keUVrDsLQkmg9wbE0qSXKMFqCC5NagyR0RqYw8VAQDjq1C78u+uqZPCoq5Y8w0YL9t8ISrvUdz7ySE3OtX+Ya8r+5XDcNO9Nto1K60F22llMFMOsazedM6tbq7dJr9yGmOEwtE7I2IKiLojARcEMrzonIbTIH4yY4tQkIXStoBlubNFdWRH3snO/2E/x3KfjtyZNSXpMMzFIi76mzp+fY2QXizjL/EL8Y/HINr8HF7hDvD+M/u/1j3K5oHX1GX9A3hNEBOka/0BkaIYpm6AE9oqdgJfge4GBvKQ16bc0n1Ing6C8shcaa</latexit>

O ry
<latexit sha1_base64="x4Aep94NHEdPsJU/rtKHhE8r+Ec=">AAACmXicbVFNb9QwEPWmQEv42pZje4jYReK0SioQPbaCQ4WEWkS3rbSJVo4z2VprO5btLF0sX/g1XOHf8G9wsjmQlpFGfnrz5suTS0a1ieM/g2DrwcNH2zuPwydPnz1/Mdzdu9RVrQhMScUqdZ1jDYwKmBpqGFxLBZjnDK7y5YcmfrUCpWklLsxaQsbxQtCSEmw8NR8ejMdhauDWtKVszmpwVs3XLgrH4/lwFE/i1qL7IOnACHV2Pt8dQFpUpOYgDGFY61kSS5NZrAwlDFyY1hokJku8gJmHAnPQmW17u+i1Z4qorJR3YaKW/TfDYq71mudeybG50XdjDfnfWKGbgr3utlEpXeo+W8uFAlj2By1WVOpu1NvNrP1FTHmUWSpkbUAQF0VhKuAbqTjHorDpCoybJZlNQehaQdPY2rR58jIaJc75ah/Bf5eCz548YfIG52A2EvmdOHt2kTjbIu4s9Yv4wyR3z3AfXB5OkneT+Mvh6Phtd6IdtI9eoTcoQe/RMTpF52iKCPqBfqJf6HewH5wEp8GnjTQYdDkvUc+Cr38BEJzQkw==</latexit>

y
<latexit sha1_base64="qWx8/cu2aMTMUWHnup+hkbdF3Bo=">AAACgnicbVFBb9MwFHbDYCMw2ODIJaKdNO1QxQO0HTgMwYELokjrWqmJKsd56azGjmU7HcXyj+AKv4x/g9PmQFaeZPnT97733me/TJZMmzj+0wse7D18tH/wOHzy9PDZ86PjFze6qhWFMa3KSk0zoqFkAsaGmRKmUgHhWQmTbPmxyU9WoDSrxLVZS0g5WQhWMEqMpyaDQbgOB4P5UT8expuIdgFuQR+1MZof9yDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0Knd+HXRiWfyqKiUP8JEG/bfCku41mueeSUn5lbfzzXkf3O5bhp2pttGpXShu2wtFwpg2TWar5jUrdXvW6/dh5jiMrVMyNqAoC6KwkTAHa04JyK3yQqMm+HUJiB0raAZbG3SXFkR9bFzvtsn8N+l4IsnP5TylmRgthL5gzr79Ro7u0HcWeYf4heD769hF9ycD/G7YfztvH/1tl3RAXqFXqNThNEFukKf0QiNEUVL9BP9Qr+DveAswMGbrTTotTUvUSeC938BhdrGxw==</latexit>

rx
<latexit sha1_base64="Y45X4AxHucg9GSSqMa2eHM2uHUg=">AAACmXicbVFNb9QwEPWmQEv42pZje4jYReK0SioQPbaCQ4WEWkS3rbSJVo4z2VprO5btLFssX/g1XOHf8G9wsjmQlpFGfnrz5suTS0a1ieM/g2DrwcNH2zuPwydPnz1/Mdzdu9RVrQhMScUqdZ1jDYwKmBpqGFxLBZjnDK7y5YcmfrUCpWklLsythIzjhaAlJdh4aj48GI/D1MDatKVszmpwVs3XLgrH4/lwFE/i1qL7IOnACHV2Pt8dQFpUpOYgDGFY61kSS5NZrAwlDFyY1hokJku8gJmHAnPQmW17u+i1Z4qorJR3YaKW/TfDYq71Lc+9kmNzo+/GGvK/sUI3BXvdbaNSutR9tpYLBbDsD1qsqNTdqOvNrP1FTHmUWSpkbUAQF0VhKuAbqTjHorDpCoybJZlNQehaQdPY2rR58jIaJc75ah/Bf5eCz548YfIG52A2EvmdOHt2kTjbIu4s9Yv4wyR3z3AfXB5OkneT+Mvh6Phtd6IdtI9eoTcoQe/RMTpF52iKCPqBfqJf6HewH5wEp8GnjTQYdDkvUc+Cr38BDn/Qkg==</latexit>

x
<latexit sha1_base64="taQSE4NaEOty8gKKaULIvxR/WIs=">AAACgnicbVFNb9QwEPWmn4TSL45cInaREIdV3A/BgUMreuCCKFK3W2kTVY4z2bU2dizbWdpa/hFc6S/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IK19Y3Nre0X4cudV7t7+weH17qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJYyz+ZcmP16A0qwSV+ZeQsrJVLCCUWI8NR4MwrtwMLjd78fDeBnRc4Bb0EdtXN4e9CDJK1pzEIaWROsJjqVJLVGG0RJcmNQaJKFzMoWJh4Jw0Kld+nXRO8/kUVEpf4SJluy/FZZwre955pWcmJl+mmvI/+Zy3TTsTLeNSulCd9laThXAvGs0XzCpW6t3K6/dh5jiU2qZkLUBQV0UhYmAn7TinIjcJgswboJTm4DQtYJmsLVJc2VF1MfO+W4X4L9LwTdPnpdyRjIwK4l8oM5+v8LOLhF3lvmH+MXgp2t4Dq6Phvh0GP846p+dtCvaRm/QW/QeYfQRnaGv6BKNEEVz9Av9Ro/BevAhwMHxShr02prXqBPB57+Dv8bG</latexit>

32
Quaternion unitaire
• Les inconvénients de la représentation angle et axe peuvent être surmontés par
une autre représentation à 4 paramètres, le quaternion unitaire, défini par:

Q = {⌘, ✏}
<latexit sha1_base64="WsIXFT5nEc89zpmb4uzVQmhBJKU=">AAACsXicbVHLbtQwFPWER0t4TWHJJmIGiUU1SlqqskEqggUbRCt12qJxNDjOzdQa27FsZ6BY/hG+hi38AX+Dk5kFabmS5aNzn+feQnFmbJr+GUS3bt+5u7V9L77/4OGjx8OdJ2embjSFKa15rS8KYoAzCVPLLIcLpYGIgsN5sXzX+s9XoA2r5am9UpALspCsYpTYQM2Hr8bjGAtiLynh7sQnbxLsMFiyi3dxUfPSXInwBUoZxmvpsY/H4/lwlE7SzpKbINuAEdrY8XxnALisaSNAWsqJMbMsVTZ3RFtGOfgYNwYUoUuygFmAkggwuevk+eRFYMqkqnV40iYd+2+GI8K0c4bIVom57mvJ//pK0xbsdXdtlDaV6bONWmiAZX/QcsWU2Yz6bT1rX4itXueOSdVYkNQnSYwlfKW1EESWDq/A+lmWh91K02hoGzvX3aKoklHmfaj2HsK6NHwM5FuuLkkBdh2ivlPvPp1m3nVIeMeCkHCY7PoZboKzvUl2MElP9kZHh5sTbaNn6Dl6iTJ0iI7QB3SMpoiiH+gn+oV+R/vR5+hLVKxDo8Em5ynqWbT8C9mZ2hs=</latexit>

⌘ = cos(✓/2) : partie scalaire du quaternion


<latexit sha1_base64="N7qvmp3UdB1OjBkcT+bdu5MwK9k=">AAACnXicbVFbb9MwFHbDbYRbB488YNEiDWnqkiK0vSANARIPXIa0rpPqqHKck9Zq7Fi2UxhWXvk1vMJ/4d/gtHkgG0c68qfvfOfmk6qCGxtFf3rBtes3bt7auR3euXvv/oP+7sMzU1aawYSVRanPU2qg4BImltsCzpUGKtICpunqTROfrkEbXspTe6EgEXQhec4ZtZ6a9/FwGBKwFJP9V2QfE1aaPWKXnjkYP8fhcDjvD6JRtDF8FcQtGKDWTua7PSBZySoB0rKCGjOLI2UTR7XlrIA6JJUBRdmKLmDmoaQCTOI2q9T4mWcynJfau7R4w/6b4agw5kKkXimoXZrLsYb8bywzTcFOd9eotMlNl63UQgOsuoNma65MO+q37azdRWx+lDguVWVBshrjkEj4ykohqMwcWYOtZ3HiCEhTaWgaO0eaJ83xIK5rX+0t+O/S8NGTrwu1pCnYrUR9Z7X7fBrXboNE7bhfxB8mvnyGq+BsPIpfjqIv48Hxi/ZEO+gxeor2UIwO0TF6j07QBDH0A/1Ev9Dv4EnwLvgQfNpKg16b8wh1LJj+BRjTz4A=</latexit>

✏ = [✏x , ✏y , ✏z ]T = sin(✓/2) r
<latexit sha1_base64="UNPEJ4/UU+ShS/0YfBS1RwE4LPU=">AAAC5HicbVHLbhMxFHWGVwmPprBkY5EgFSkKM0GIbpCKYMEGUaSkrRQPkcdzJ7Ey47FsT9rU8h+wQ2z5Iz6A72ALEp5pQE3LlSwfn3ts33tPInOuTRj+aAXXrt+4eWvrdvvO3Xv3tzs7Dw51WSkGY1bmpTpOqIacCxgbbnI4lgpokeRwlCze1PmjJSjNSzEyKwlxQWeCZ5xR46lpZ9brtUlS5qleFX6zBKTmeSkcJv1XpI8nf4npaZ/0/x1WFw9n8acRrsVEc7FLzBwMfTZ86hVLMFY53O71pp1uOAibwFdBtAZdtI6D6U4LSFqyqgBhWE61nkShNLGlynCWg2uTSoOkbEFnMPFQ0AJ0bJuJOPzEMynOSuWXMLhhL96wtNB1x15ZUDPXl3M1+d9cqusHN363tUrpTG+ylZwpgMVmoemSS70u9fS81s1GTLYXWy5kZUAwh3GbCDhhZVFQkdp6nm4Sxd4loSsF9cfWknpLMtyNnPOvvQU/LgXvPfk6l3OaeA8aiTxjzn4YRc42qHCW+0a8MdFlG66Cw+EgejEIPw67+8/XFm2hR+gx2kUReon20Tt0gMaIoe/oJ/qFfgdZ8Dn4Enw9lwat9Z2HaCOCb38Aqp3tlA==</latexit>

: partie vectorielle du quaternion

avec la contrainte ⌘ 2 + ✏2x + ✏2y + ✏2z = 1 dont le nom de quaternion unitaire.


<latexit sha1_base64="8Ug4R6J8IcE/lv2FPMOVTkRq3Os=">AAACvnicbVFbb9MwFHbDZSNc1sEjLxYtEhJTlURC7AWpEzzwghjSuk2qs8pxTzqrsWPZTmln5ffwa3gF8W9w2jyQjSNZ/vyd79x8MlVwY6PoTy+4d//Bw739R+HjJ0+fHfQPn5+bstIMJqwsSn2ZUQMFlzCx3BZwqTRQkRVwkS0/Nv6LFWjDS3lmNwpSQReS55xR66lZ/2Q4DAlYepXgt5iAMrwo5VUyW3efm+7zBpOjD+QIx+FwOOsPolG0NXwXxC0YoNZOZ4c9IPOSVQKkZQU1ZhpHyqaOastZAXVIKgOKsiVdwNRDSQWY1G1nrfFrz8xxXmp/pMVb9t8IR4UxG5F5paD22tz2NeR/fXPTJOxUd41Km9x02UotNMCy2+h8xZVpW13veu0OYvPj1HGpKguS1RiHRMJ3VgpB5dyRFdh6GqeOgDSVhqawc6S5shwP4rr22T6B/y4NXzx5UqhrmoHdSdQNq93Xs7h2WyRqx/0gfjHx7TXcBefJKH43ir4lg3HSrmgfvUSv0BsUo/dojD6jUzRBDP1AP9Ev9DsYB3kggnInDXptzAvUsWD9F8Ot3CA=</latexit>

Les paramètres r et ✓ sont les mêmes que pour la représentation angle et axe
<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

<latexit sha1_base64="vr6HlBYpBv+pTXlk2jVJeq+/blI=">AAACiXicbVHLTtwwFPWk5dHwKLTLbqLOILEaxaAKxIpquuimKpUYQJoE5Dg3gzWxY9nO0Knl/+i2/av+TZ2QRQO9kuWjc9/3ZLJk2sTxn0Hw4uXa+sbmq3Bre2f39d7+mytd1YrClFZlpW4yoqFkAqaGmRJupALCsxKus8Wk8V8vQWlWiUuzkpByMhesYJQYT92ORmGyBGOVi8LR6G5vGI/j1qLnAHdgiDq7uNsfQJJXtOYgDC2J1jMcS5NaogyjJbgwqTVIQhdkDjMPBeGgU9uO7aIDz+RRUSn/hIla9t8MS7jWK575SE7MvX7qa8j/+nLdFOx1t02U0oXus7WcK4BFf9B8yaTuRv3+OGt/EVOcppYJWRsQ1EVRmAh4oBXnROS2uaeb4dQmIHStoGlsbdJ8WRENsXO+2ifw51LwxZMfS3lPMq9BGyJ/UGe/XmJnW8SdZX4RLwx+KsNzcHU0xh/G8bej4flxJ9Emeofeo0OE0Qk6R5/RBZoiihT6iX6h38FWgIPT4OwxNBh0OW9Rz4LJX1yxycg=</latexit>

Broom Bridge (Dublin)

i2 = j 2 = k 2 = ijk =
<latexit sha1_base64="lBUub1GJvIpVjtx4QQNpKvmeu74=">AAACnnicbVFNb9QwEPWGj5bw0S0cuRh2kbiwSlZC9IJUVFRxqVqkbrvSJqwcZ7J1EzuW7Sy0Vs79NVzht/BvcLI5kJaRPH5682Y840lkwbQJgj8D7979Bw+3th/5j588fbYz3H1+pstKUZjRsijVPCEaCiZgZpgpYC4VEJ4UcJ7kB038fA1Ks1KcmisJMScrwTJGiXHUcvhqPPbZtyn+iC9bn7eeXebOvwuxPx4vh6NgErSG74KwAyPU2clydwBRWtKKgzC0IFovwkCa2BJlGC2g9qNKgyQ0JytYOCgIBx3bdpYav3FMirNSuSMMbtl/MyzhWl/xxCk5MRf6dqwh/xtLdVOw97ptVEpnus9WcqUA8n6j6ZpJ3bX6Y9NrfxCT7cWWCVkZELTG2I8EfKcl50SkNlqDqRdhbCMQulLQPGxt1FxJhkdhXbtqn8F9l4IjR34q5AVJwGwk8prW9vg0rG2LeG2ZG8QtJry9hrvgbDoJ30+Cr9PR/rRb0TZ6iV6jtyhEH9A++oJO0AxRdIN+ol/ot4e9Q+/IO95IvUGX8wL1zJv/BTcvzh8=</latexit>

1 (16 octobre 1843) William R. Hamilton


q = ⌘ + ✏x i + ✏y j + ✏z k (1806–1865)
<latexit sha1_base64="j/pcprqw2giMSGEXtKHj6+FBOCs=">AAAC53icbVFNb9MwGHbDx0b4WAdHLhYtEhJTlUxCcEEaggMXxJDWbVITVY7ztvUaO57tlHWWfwM3xJV/xJU/whWcNoem45UsP36e99NvJgumTRT97gS3bt+5u7N7L7z/4OGjve7+41NdVorCkJZFqc4zoqFgAoaGmQLOpQLCswLOsvn7Wj9bgNKsFCdmKSHlZCrYhFFiPDXuXvT74SVODt4mBzgBQ/BLf0nNCi9eJTMtCQUbDaKYcsc2xeWWeIE31estdR72++Nuz79Whm+CuAE91NjxeL8DSV7SioMwtCBaj+JImtQSZRgtwIVJpcFXmZMpjDwUhINO7epTHH7umRxPSuWPMHjFbkZYwrVe8sx7cmJmeluryf9qua4Ttqrb2kvpiW6zlZwqgHm70XzBpG5avVr32h7ETN6klglZGRDUYRwmAr7SknMicpsswLhRnNoEhK4U1IWtTeorm+Be7JzP9gH8dyn45Ml3hZyRDMzaRV5TZz+fxM6uEHeW+UH8YuLtNdwEp4eD+NUg+nLYO4qaFe2ip+gZeoFi9BodoY/oGA0RRb/QH/S3gwIWfAu+Bz/WrkGniXmCWhb8/Ad9Luwc</latexit>

33
Quaternion unitaire
Remarque:
Contrairement à la représentation angle et axe, une rotation de ✓ autour de r
<latexit sha1_base64="RVsz5O5npdq1G7qhWgmgEl7W+o4=">AAACiHicbVFNT9wwEPWmtNBQCrRHLhG7lXphlayEgBsfPXBBBYkFpE2EHGeya23sGNtZPiz/jl7Lz+q/qbObAwFGsvz05s3MsycVBVU6DP91vA9LHz8tr3z2V7+sfV3f2Px2pcpKEhiSsijlTYoVFJTDUFNdwI2QgFlawHU6Panz1zOQipb8Uj8KSBgec5pTgrWjkl7P34n1BDT2e73bjW7YD+cRvAVRA7qoifPbzQ7EWUkqBlyTAis1ikKhE4OlpqQA68eVAoHJFI9h5CDHDFRi5q5t8MMxWZCX0h2ugzn7ssJgptQjS52SYT1Rr3M1+W4uU3XD1nRTq6TKVZutxFgCTNtGsxkVqrH6sPDafojO9xNDuag0cGKDwI853JOSMcwzE89A21GUmBi4qiTUg42J6yvNg25krev2C9x3SThz5FEhJjgFvZCIJ2LN78vImjli1lD3ELeY6PUa3oKrQT/a7YcXg+7hoFnRCtpC2+gnitAeOkSn6BwNEUF36A/6i5493wu9Pe9gIfU6Tc131Arv+D/1z8kn</latexit>

<latexit sha1_base64="FIZXAX8H+2H4kdZqEEfRwCFNb7M=">AAACiXicbVHLbtQwFPUE+iB9w5JNxAxSNx3FVRFVV0VlwQZRpE5baZJWjnMzY03sWLYzbbH8H2zhr/gbnDQL0nIly0fnvu/JZMm0ieM/g+DFy5XVtfVX4cbm1vbO7t7rS13VisKEVmWlrjOioWQCJoaZEq6lAsKzEq6yxVnjv1qC0qwSF+ZBQsrJTLCCUWI8dTMahQfJEoxVLhyNbneH8ThuLXoOcAeGqLPz270BJHlFaw7C0JJoPcWxNKklyjBagguTWoMkdEFmMPVQEA46te3YLnrvmTwqKuWfMFHL/pthCdf6gWc+khMz1099DflfX66bgr3utolSutB9tpYzBbDoD5ovmdTdqPePs/YXMcVxapmQtQFBXRSFiYA7WnFORG6bc7opTm0CQtcKmsbWJs2XFdEQO+erfQZ/LgVfPfmplHOSeQnaEPmDOvvtAjvbIu4s84t4YfBTGZ6Dy8Mx/jCOvx8OT486idbRW/QO7SOMPqJT9AWdowmiSKGf6Bf6HWwEODgOTh5Dg0GX8wb1LDj7C3aDydY=</latexit>

donne le même quaternion que celui associé à une rotation de ✓ autour de r


<latexit sha1_base64="RonDmgmUad1kl0O+UAQHH1DHVxU=">AAACh3icbVFNT9wwEPWmQHcD5atHLhG7lXraJivRcgTBgUsFSCwgbSLkOJNda2PHsp1tqeW/0Sv8rf6bOrs5EGAky09v3sw8e1JRUKXD8F/H+7C2vvGx2/M3tz5t7+zu7d+qspIExqQsSnmfYgUF5TDWVBdwLyRglhZwl87P6vzdAqSiJb/RjwIShqec5pRg7ah4MPBjPQON/cHgYbcfDsNlBG9B1IA+auLqYa8DcVaSigHXpMBKTaJQ6MRgqSkpwPpxpUBgMsdTmDjIMQOVmKVpG3xxTBbkpXSH62DJvqwwmCn1yFKnZFjP1OtcTb6by1TdsDXd1CqpctVmKzGVAPO20WxBhWqs/l55bT9E58eJoVxUGjixQeDHHH6RkjHMMxMvQNtJlJgYuKok1IONiesrzYN+ZK3rdg7uuyT8dORpIWY4Bb2SiD/EmsubyJolYtZQ9xC3mOj1Gt6C29EwOhqG16P+yahZURcdoEP0FUXoBzpBF+gKjRFBAv1FT+jZ63nfvO/e8UrqdZqaz6gV3ul/cCLI8A==</latexit>

<latexit sha1_base64="FdfH0iWAXKodHZVzBTTYqe7uxSw=">AAACiHicbVHLTtwwFPWElkdKKY8lm4iZSqxGCWoF7HgtukGAxADSJEKOczNYEzuu7QwPy9/Btv2s/g1OyIJAr2T56Nz3PakoqNJh+K/nzX36PL+wuOR/Wf668m11bf1KlZUkMCJlUcqbFCsoKIeRprqAGyEBs7SA63R6XPuvZyAVLfmlfhSQMDzhNKcEa0clg4Efz0Abaf3B4Ha1Hw7DxoKPIGpBH7V2frvWgzgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJniCYwd5JiBSkwztQ2+OyYL8lK6x3XQsG8zDGZKPbLURTKs79R7X03+15epumCnu6mjpMpVl63ERAJMu4NmMypUO+rD66zdRXS+lxjKRaWBExsEfszhnpSMYZ6Z+px2HCUmBq4qCXVjY+L6S/OgH1nrqp2AO5eEU0ceFuIOp06CJkQ8EWvOLiNrGsSsoW4RJ0z0XoaP4GpnGP0chhc7/YMfrUSLaBNtoW0UoV10gH6hczRCBP1Gz+gP+uv5XujtevuvoV6vzdlAHfOOXgDwmMmf</latexit>

Matrice de rotation qui correspond à un quaternion unitaire Q = {⌘, ✏} donné:


<latexit sha1_base64="qHio0avN6QRK8kLkTLsPfLoong4=">AAACsXicbVHLbtQwFPWER0t4dApLNhEzSCyqUdKCygapCBZsEK3UaYvG0eA4N1NrbMeynYFi+Uf4GrbwB/wNTmYWpOVKlo/OfZ57C8WZsWn6ZxDdun3n7tb2vfj+g4ePdoa7j89M3WgKU1rzWl8UxABnEqaWWQ4XSgMRBYfzYvmu9Z+vQBtWy1N7pSAXZCFZxSixgZoPX47HMRbEXlLC3YlP3iTYYbBkD+/houaluRLhC5QyjNfSYx+Px/PhKJ2knSU3QbYBI7Sx4/nuAHBZ00aAtJQTY2ZZqmzuiLaMcvAxbgwoQpdkAbMAJRFgctfJ88nzwJRJVevwpE069t8MR4Rp5wyRrRJz3deS//WVpi3Y6+7aKG0q02cbtdAAy/6g5Yopsxn123rWvhBbvc4dk6qxIKlPkhhL+EprIYgsHV6B9bMsD7uVptHQNnauu0VRJaPM+1DtPYR1afgYyLdcXZIC7DpEfafefTrNvOuQ8I4FIeEw2fUz3ARn+5Ps1SQ92R8dHWxOtI2eomfoBcrQITpCH9AxmiKKfqCf6Bf6HR1En6MvUbEOjQabnCeoZ9HyL9hl2hc=</latexit>

2 2
3
✏2x )
<latexit sha1_base64="iwUKesLRUnBydtibeFDfpeYQAsw=">AAAEXHicjVPfb9MwEE67AiNjsIHECy8eLWjV2iopQvCCNARIvCAGWrdJdVc5zrW1mjhR7JSmlv9QXva34KTd1B+rhCXLp+/uvvvsO3txwIR0nL+l8k7lwcNHu4/tvSf7T58dHD6/EFGaUOjQKIiSK48ICBiHjmQygKs4ARJ6AVx64y+5/3ICiWARP5dZDL2QDDkbMEqkgfqHpZtazcYTkOq3PsYgSQM3sBcFvshCcygMsWBBxHUd4cYn3EA2DmAgu/jIxh4MGVckSUimFaVU2+2C4rqNTtBt4nW7P62jpoveotw7B/vTOytDTZQn3QGz+rbQWUG7FJrV8UTEhIJyWm6bhhpje0uRtczpbZFNtdmm2mxJQnOdaEMCul/DRmpW317l/+XOcrk2Bu4vOmHjI5yw4Uj2kF2r9Q+qTsspFto03IVRtRbrzEwEYD+iaQhc0oAI0XWdWPYMuWQ0AEOfCjAXHpMhdI3JSQiip4pJ1OiNQXw0iBKzuUQFupyhSCjyyTKRIZEjse7LwXt9vsgJV6qrPCoRA7GKpvEwARivCvUnLBYLqdO51tWLyMHHnmI8TiVwqpEZcw5/aBSGxDxs/j901+2Z38BFmkBeWCmcH94AVV2tDdtXMM+VwA8Dfg7iEfHMnypC4hnV6ue5q1VhhVoxcxHTGHe9DZvGRbvlvm85v9rV03eLFu1ar6zX1rHlWh+sU+u7dWZ1LFr+Vh6XZTndualUKnuV/XloubTIeWGtrMrLfwwHa/M=</latexit>

2(⌘ + 1 2(✏x ✏y ⌘✏z ) 2(✏x ✏z + ⌘✏y )


6 7
R(⌘, ✏) = 4 2(✏x ✏y + ⌘✏x ) 2(⌘ 2 + ✏2y ) 1 2(✏y ✏z ⌘✏x ) 5
2(✏x ✏z ⌘✏y ) 2(✏y ✏z + ⌘✏x ) 2(⌘ 2 + ✏2z ) 1

• Les quaternions Q et Q décrivent la même matrice de rotation


<latexit sha1_base64="KbRfLoMdgfRF4VEkXeaGVpJ4+Uw=">AAACj3icbVHLbtswEKTVV6q+7PTYi1C7QE+GZCBIT4WL9pAeiiZAnASwBIOiVg5hkiJIyk1K8FdybX8pfxNK1qFKugCBwexwd3Y3l4xqE8e3g+DR4ydPn+09D1+8fPX6zXC0f6arWhFYkIpV6iLHGhgVsDDUMLiQCjDPGZznm69N/nwLStNKnJprCRnHa0FLSrDx1Gq4P5mEKcfmkmBmT1wUTiar4Tiexm1ED0HSgTHq4ng1GkBaVKTmIAxhWOtlEkuTWawMJQxcmNYaJCYbvIalhwJz0Jltzbvog2eKqKyUf8JELfvvD4u51tc898rGp76fa8j/5grdFOx1t41K6VL32VquFcCmb7TYUqk7q1c7r/1BTPkps1TI2oAgLorCVMAvUnGORWHTLRi3TDKbgtC1gqaxte2m8zIaJ875at/Ar0vBD09+YfIS52B2EvmbOPvzNHG2RdxZ6gfxh0nun+EhOJtNk4NpfDIbz2fdifbQO/QefUQJOkRzdISO0QIRdIVu0B/0NxgFh8HnYL6TBoPuz1vUi+D7HYcTy4o=</latexit> <latexit sha1_base64="EGACeIP/+MJbRotJSxL3Ev5NEKo=">AAACkHicbVFNa9wwENW6X6n7tUmOvZjuFnrpYi+E5taE9lACoQlkk8DaLLI83oiVZCHJ226Ffkuv7U/Kv4ns9aFOOiB4vHmaeTOTS0a1iePbQfDo8ZOnz3aehy9evnr9Zri7d6mrWhGYkYpV6jrHGhgVMDPUMLiWCjDPGVzlqy9N/moNStNKXJiNhIzjpaAlJdh4ajHcH4/DjynH5oZgZs9dFI7Hi+EonsRtRA9B0oER6uJssTuAtKhIzUEYwrDW8ySWJrNYGUoYuDCtNUhMVngJcw8F5qAz27p30XvPFFFZKf+EiVr23x8Wc603PPfKxqe+n2vI/+YK3RTsdbeNSulS99laLhXAqm+0WFOpO6s/t177g5jyMLNUyNqAIC6KwlTAD1JxjkVh0zUYN08ym4LQtYKmsbXtpvMyGiXO+Wpfwa9Lwaknj5m8wTmYrUT+Is5+v0icbRF3lvpB/GGS+2d4CC6nk+RgEp9PR0fT7kQ76C16hz6gBH1CR+gbOkMzRNAG/UZ/0N9gLzgMPgfHW2kw6P7so14EJ3cOCMvB</latexit>

(les quaternions fournissent un double recouvrement du groupe SO(3)).


<latexit sha1_base64="Mu0lVbLZ8GD9V/BESaamJA7y5gw=">AAACkHicbVFNT9wwEPWmH0D6wQJHLlF3K9HLKgEhuBXUHqpKCBAsIG2ileNMFmtjx7KdLVvLv4Ur/Un9Nzi7ORBgJMtPb97MPHtSUVClw/B/x3vz9t37ldU1/8PHT5/XuxubV6qsJIEhKYtS3qRYQUE5DDXVBdwICZilBVyn0x91/noGUtGSX+q5gIThCac5JVg7atzd6vf9WMOdNhenO3vfbOD3++NuLxyEiwhegqgBPdTE2XijA3FWkooB16TASo2iUOjEYKkpKcD6caVAYDLFExg5yDEDlZiFext8dUwW5KV0h+tgwT6tMJgpNWepUzKsb9XzXE2+mstU3bA13dQqqXLVZisxkQDTttFsRoVqrN4tvbYfovPDxFAuKg2c2CDwYw5/SMkY5pmJZ6DtKEpMDFxVEurBxsT1leZBL7LWdfsJ7rsknDjyuBC3OAW9lIi/xJrTy8iaBWLWUPcQt5jo+RpegqvdQbQ/CM93e0dhs6JVtI2+oB0UoQN0hH6hMzREBM3RPXpA/7xN79D77h0vpV6nqdlCrfB+PwIpLstS</latexit>

En dehors de cette ambiguité, les quatre paramètres d’un quaternion


estdécrivent une rotation unique

34
Quaternion unitaire
Problème inverse: déterminer le quaternion qui correspond à une matrice
de rotation R donnée:
<latexit sha1_base64="mK4JozKFwenocPb/DymukV0oy4s=">AAACiHicbVHLTtwwFPUESmloeS67iZhB6mqUgBBlR4EFm6qAGECaRMhxbgZrYsfYzhSw/B3dls/q39QJWRDgSpaPzn3fk4qCKh2G/3re3PyHhY+Ln/ylz1+WV1bX1i9VWUkCI1IWpbxOsYKCchhpqgu4FhIwSwu4SqdHtf9qBlLRkl/oBwEJwxNOc0qwdlQyGPjxDLQ5t/5gcLPaD4dhY8FbELWgj1o7vVnrQZyVpGLANSmwUuMoFDoxWGpKCrB+XCkQmEzxBMYOcsxAJaaZ2gZbjsmCvJTucR007MsMg5lSDyx1kQzrW/XaV5Pv+jJVF+x0N3WUVLnqspWYSIBpd9BsRoVqR71/nrW7iM6/J4ZyUWngxAaBH3P4TUrGMM9MfU47jhITA1eVhLqxMXH9pXnQj6x11Y7BnUvCT0f+KMQtTp0ETYh4JNb8uoisaRCzhrpFnDDRaxnegsvtYbQ7DM+2+wc7rUSL6CvaRN9QhPbQATpBp2iECLpDf9Bf9OT5XujtefvPoV6vzdlAHfMO/wOsy8l+</latexit>

<latexit sha1_base64="LMeq7DxABqjPIRxRGAxPri6l1mU=">AAADLHicdVJbb9MwFHbCbYTLOhBPvES0IB6qKk5BICGkIYbEC2KgdZtUR5XjnLRWEyeynbJh+S/Bn+EFIV75HThdi+gGR7L86Tufz9VpXXClo+i751+6fOXqta3rwY2bt25vd3buHKqqkQxGrCoqeZxSBQUXMNJcF3BcS6BlWsBROn/d+o8WIBWvxIE+rSEp6VTwnDOqHTXpfO31ArIAbT7akPRfkn5ICsj1mPQDksKUC1NSLfmJDeTEYGzDR2EL4jUYWrJQNWVgogHGrLSEtMp4rYzXyvg/yuFaOVwrh0MbEBDZn8ykTySfznQS9HqTTjcaREsLLwK8Al20sv3Jjgckq1hTgtCsoEqNcVTrxFCpOSvARW8UuLLmdApjBwUtQSVmOVkbPnRMFuaVdEfocMn+/cLQUqnTMnVKV+1Mnfe15D99mWoDbmRv+51JlatNtqmnEmC+WWi24LValXpyVutmIzp/nhgu6kaDYDYMAyLgE6vKkrrBtgu3Y5wYN2bVSGgTG0PaK83DLrbWRdsDNy4J7xz5qqhnNHWfZCmpPzNr3h9ga5aotIa7Rtxi8Pk1XASH8QA/HUQf4u7uk9WKttB99AA9Rhg9Q7voLdpHI8S8e94Lb89743/xv/k//J9nUt9bvbmLNsz/9Ru8fAFs</latexit>

2 3
r11 r12 r13
6 7
R = 4 r21 r22 r23 5
r31 r32 r33
• Nous avons que:
1p
<latexit sha1_base64="ntVocI6ev+kNa7v7f6Ib/W7gn9A=">AAACv3icbVFdb9MwFHXD1wgf6+CRF4sWCYmqSlKh8YK0AQ+8IIa0bpPqqHLcm85q4ni2UyiW/w+/hlfg3+C0eSAbV7J8dO651/f6ZLLg2kTRn15w6/adu/f27ocPHj56vN8/eHKmq1oxmLKqqNRFRjUUXMDUcFPAhVRAy6yA82z1vsmfr0FpXolTs5GQlnQpeM4ZNZ6a998NhyEBQzEZvSUjTHJFmY2dTRwZEX2ljFVzG8cOv8IeJEkLJpMGeDocDuf9QTSOtoFvgrgFA9TGyfygB2RRsboEYVhBtZ7FkTSppcpwVoALSa1BUraiS5h5KGgJOrXbZR1+4ZkFzivljzB4y/5bYWmp9abMvLKk5lJfzzXkf3ML3TTsvG4bldK57rK1XCqAVXfQxZpL3Y76bTdrdxGTv0ktF7I2IJjDOCQCvrKqLKlYWLIG42ZxagkIXStoHraWNFeW40HsnO/2Afx3KfjkyeNCXtIMzE4ivzNnP59637aodJb7Rbwx8XUbboKzZBy/HkdfksHRpLVoDz1Dz9FLFKNDdIQ+ohM0RQz9QD/RL/Q7OA6WgQjkThr02pqnqBPB5i+QYtv5</latexit>

⌘ = r11 + r22 + r33 + 1


2
2 p <latexit sha1_base64="hwLlmw7uZo28uqs7MHZGsX95euI=">AAADvnicjVJLj9MwEE62PJbw2oUjFy8t0iJ2qzgVggtSERy4IBZpu7tSXVWOO0mtJk6w3dJi+ffwa7iC+Dc4faCmy4GRIn/5ZuabGY/jMuNKh+Fvf69x4+at2/t3grv37j94eHD46EIVU8mgx4qskFcxVZBxAT3NdQZXpQSaxxlcxpN3lf9yBlLxQpzrRQmDnKaCJ5xR7ajhod9ttQISF9lILXJ3GAKl4lkhLCInb8gJIomkzGBrIkuOApJBovsViCHlwlAp6cIaZgOiYa6NSoU9lkPTiSw6RQ5EHfucqC9SG/eD8YbduDsdi14gbMlMlZSBCds4YrklBO0I4s4mA28J1nSWoCrxX4LRphccbQnWdP62WgkGBMRoPW9Ajojk6VgPglZreNAM2+HS0HWA16Dpre3M3TmQUcGmOQjNMqpUH4elHjhtzVkGTn2qwDU/oSn0HRQ0BzUwy11b9MwxI5QU0n1CoyW7nWForqpVusic6rHa9VXkP30jVQnWqpsqSqpE1dlpmUqASb3R0YyXat3qfNVrfRCdvB4YLsqpBsEscvsQ8JUVeU7dvZIZaNvHA/f8hJpKqAobQ6ojTlATW+vU3oO7LgkfHfk2K8c0Br0KKb8xaz6du0e6RLk13A3iFoN313AdXERt/LIdfo6a3c56RfveE++pd+xh75XX9T54Z17PY/53/4f/0//V6DaSRt4oVqF7/jrnsVezxvwPw4c0QQ==</latexit>

3
sgn(r32 r23 ) r11 r22 r33 + 1
16 p 7
✏ = 4 sgn(r13 r31 ) r22 r33 r11 + 1 5
2 p
sgn(r21 r12 ) r33 r11 r22 + 1

où la fonction signe est définie comme suit:


<latexit sha1_base64="Psesj67THFDZOeSyMpZD5UIXaYU=">AAADF3icbVFNb9NAEF2br2K+Ujhy2ZJQFakNdhACCQ5FcOCCKFLTVspG0XozcVZZr93ddUhY7Q+BP8MNceXIv2Gd+EDajmT56c2bN7MzaSm4NnH8NwivXb9x89bW7ejO3Xv3H7S2H57oolIM+qwQhTpLqQbBJfQNNwLOSgU0TwWcprP3df50DkrzQh6bZQnDnGaSTzijxlOj1o9OJyIGFsbqTLq9xTNM9olRnMpMwDnZxxERMDHEkp2IpJBxaalSdOmsEC5K8C5uqrkjb8j+ApMMznFM5rqkDGzcTXosd4Tg6OAK8Vsc+wYgx41pRHaI4tnUdKNOZ9Rqx914FfgySBrQRk0cjbYDIOOCVTlIwwTVepDEpRl6b8OZAO9eafBjzWgGAw8lzUEP7WqJDj/1zBhPCuU/afCK/b/C0lzrZZ56ZU7NVF/M1eSVubGuDTe621ql9ERvslWZKYDZ5qDjOS91M+piPevmQ8zk9dByWVYGJHPYL1TCV1bkOfV7JXMwbpAMrd+yrhTUja0l9S+d4HbinHf7AH5dCj558p0opzQFs5aU35izn48TZ1cod5b7h/jDJBfPcBmc9LrJy278pdc+fNGcaAs9Rk/QHkrQK3SIPqIj1EcsQMFu8DyIw+/hz/BX+HstDYOm5hHaiPDPP4HC+xI=</latexit>

(
1 si x 0
sgn(x) ,
1 si x < 0
35
Quaternion unitaire
Remarque:
• Dans la première équation de la diapo précédente nous avons supposé
implicitement que ⌘ = cos(✓/2) 0. Cela correspond à un angle ✓ 2 [ ⇡, ⇡].
<latexit sha1_base64="4Eb+hl8RF+uZasnty8xb2ZEt6qw=">AAACoHicbVHLbtQwFPWEVwmvFpZsrM4glc0Qj4ToBqkIFt2gtlKnrRhHlePczFgTO67tDBQrH8DXsIVP4W9wZrIgLVeyfHzuuS/fTJfCuiT5M4ju3L13/8HWw/jR4ydPn23vPD+zVW04THlVVuYiYxZKoWDqhCvhQhtgMivhPFt+bP3nKzBWVOrUXWtIJZsrUQjOXKAut4ejUUzBMfweU17ZPeoW4fVm8hrTOVzhZByPRkGVjJO14duAdGCIOju+3BkAzSteS1COl8zaGUm0Sz0zTvASmpjWFjTjSzaHWYCKSbCpX0/T4FeByXFRmXCUw2v23wjPpLXXMgtKydzC3vS15H99uW0T9qr7VmVsYftsrecGYNlvNF8JbbtWv2167Q/iiv3UC6VrB4o3GMdUwVdeSclU7ukKXDMjqaegbG2gLew9ba+swEPSNCHbJwjfZeBzID+UesEycBuJ/s4bf3RKGr9GsvEiDBIWQ26u4TY4m4zJ23FyMhkekG5FW+gl2kV7iKB36AAdomM0RRz9QD/RL/Q72o0Oo6PoZCONBl3MC9Sz6Mtf0jfQow==</latexit>

<latexit sha1_base64="7mLeGVAxrv3EszlbtXxNG9HPTGo=">AAACm3icbVFbb9MwFHbDbYRbB48IFNEi8TCqeBJij0PjASEQQ1q3SXVUOc5JazV2LNvpGJbf+DW8wp/h3+C0eSAbR7L96TvfufnkquLGpumfQXTj5q3bd3buxvfuP3j4aLj7+NTUjWYwZXVV6/OcGqi4hKnltoJzpYGKvIKzfHXU+s/WoA2v5Ym9VJAJupC85IzaQM2Hz8fjmNglWJoQLpPZa6L4HtkLdzaJx+P5cJRO0o0l1wHuwAh1djzfHQApatYIkJZV1JgZTpXNHNWWswp8TBoDirIVXcAsQEkFmMxtBvHJy8AUSVnrcKRNNuy/EY4KYy5FHpSC2qW56mvJ//oK0ybsVXetSpvS9NlGLTTAqt9osebKdK1+2/baH8SWB5njUjUWJPNJEhMJF6wWgsrCkTVYP8OZIyBNo6Et7Bxpn7xMRtj7kO09hO/S8DmQ7yq1pDnYrUR9Z959OcHebZDwjodBwmLw1TVcB6f7E/xmkn7dHx3ibkU76Cl6gV4hjN6iQ/QBHaMpYugH+ol+od/Rs+go+hh92kqjQRfzBPUsmv4F4j/PeA==</latexit>

Par conséquent, toute rotation peut être décrite

• Par rapport aux formules d’inversion de la représentation angle et axe,


il n’y a pas de singularités dans les deux équations de la diapo précédente

Inverse d’un quaternion et produit de quaternions


1 T 1
<latexit sha1_base64="OCQeRNo/8xjonBubluwyjG9x4pg=">AAACnHicbVFbb9MwFHbDbYRbB49IYNEi8UIVT0LwgjTEHpDQxEBtN6kJleOedFZjx7KdwrD8yK/hFX4M/wYnCxLZOJLlz9/5zs0nVyU3Nkl+D6IrV69dv7FzM751+87de8Pd+3NT1ZrBjFVlpU9yaqDkEmaW2xJOlAYq8hKO883bxn+8BW14Jaf2TEEm6FrygjNqA7UcPh6P43QL1n3yn91z4vFr/Pc5xfF4vByOkknSGr4MSAdGqLOj5e4A0lXFagHSspIasyCJspmj2nJWgo/T2oCibEPXsAhQUgEmc+0kHj8NzAoXlQ5HWtyy/0Y4Kow5E3lQCmpPzUVfQ/7XtzJNwl5116i0KUyfrdVaA2z6ja62XJmu1a/nvfYHscWrzHGpaguSeYzjVMIXVglB5co1P+oXJHMpSFNraAo7lzZXXuAR8T5kO4DwXRoOA/mmVKc0D1toJeob8+7DlHjXIuEdD4OExZCLa7gM5nsT8mKSfNwb7ZNuRTvoIXqCniGCXqJ99A4doRli6Dv6gX6iX9Gj6CB6Hx2eS6NBF/MA9Sya/wHbvtBZ</latexit>

<latexit sha1_base64="0Rai1Iz3e/usbqEarW3avePrDVk=">AAACk3icbVFNb9QwEPWGrxI+ugXBhUvELhIXVnElBFIvLfTQS0UrddtKm7BynMnW2tixbGfbYvxnuMIf6r/ByeZAWkay9PTmeebNTCZLpk0c3wyCe/cfPHy08Th88vTZ883h1otTXdWKwpRWZaXOM6KhZAKmhpkSzqUCwrMSzrLl1yZ/tgKlWSVOzLWElJOFYAWjxHhqPnw9HocJJ+aCktIeu+/2A3bheDwfjuJJ3EZ0F+AOjFAXR/OtASR5RWsOwtCSaD3DsTSpJcowWoILk1qDJHRJFjDzUBAOOrXtAC5655k8KirlnzBRy/77wxKu9TXPvLLxqm/nGvK/uVw3BXvdbaNSutB9tpYLBbDsG81XTOrO6tXaa38QU3xOLROyNiCoi6IwEXBJK86JyG2yAuNmOLUJCF0raBpb2247K6IRds5X2we/LgWHntwr5QXJwKwl8gd19tsJdrZF3FnmB/GHwbfPcBecbk/wx0l8vD3axd2JNtAb9Ba9Rxh9QrvoAB2hKaLoJ/qFfqM/watgJ/gS7K+lwaD78xL1Ijj8C4dGzUU=</latexit>

• Le quaternion extrait de la matrice R = R est noté Q et on peut


le calculer ainsi: 1
<latexit sha1_base64="f0B2y6jgG6YVQomcV0YXLJSm6QY=">AAACu3icbVHLbtQwFPWER0t4dApLNhEzSCymo6Sogk1RESzYIFqp01Yah5Hj3EzNOI5lOwPF8t/wNWxhw9/gZLIgLVeyfHTu89ybSc60ieM/g+DW7Tt3t7bvhfcfPHy0M9x9fKarWlGY0YpX6iIjGjgTMDPMcLiQCkiZcTjPVu8a//kalGaVODVXEtKSLAUrGCXGU4vhm/E4xCUxl5Rwe+I+273ERXhyiCcRthgMmeDJHs4qnuur0n+ek5rxSjjswvF4MRzF07i16CZIOjBCnR0vdgeA84rWJQhDOdF6nsTSpJYowygHF+JagyR0RZYw91CQEnRqW6Eueu6ZPCoq5Z8wUcv+m2FJqZs5fWSjSV/3NeR/fbluCva62yZK6UL32VouFcCqP2i+ZlJ3o37bzNoXYorXqWVC1gYEdVEUYgFfaVWWROQWr8G4eZL63QpdK2gaW9teJSuiUeKcr/Ye/LoUfPTkWy4vSQZmEyK/U2c/nSbOtqh0lnkh/jDJ9TPcBGf70+RgGp/sj45edifaRk/RM/QCJegVOkIf0DGaIYp+oJ/oF/odHAY0+BLwTWgw6HKeoJ4F9V8tZN1s</latexit>

Q = {⌘, ✏}
• Soient Q1 = {⌘1 , ✏1 } et Q2 = {⌘2 , ✏2 } les quaternions qui correspondent
<latexit sha1_base64="g+tHmJ03JRLLQeW7OSKGYhaZnDM=">AAACu3icbVHLbtQwFPWEVwmvKSzZRMwgsRiNkpEQbIqKYMEG0UqdttI4ihznZuqO7VixM1As/w1fwxY2/A1OJgvSciXLR+ee+84VZ9rE8Z9RcOv2nbv39u6HDx4+evxkvP/0VFdNTWFJK17V5znRwJmEpWGGw7mqgYicw1m++dD6z7ZQa1bJE3OlIBVkLVnJKDGeysbvptMQC2IuKOH22GWLCM8O8CzCFoMh2WKGZziveKGvhP88qTTjlfRC7MLpNBtP4nncWXQTJD2YoN6Osv0R4KKijQBpKCdar5JYmdSS2jDKwYW40aAI3ZA1rDyURIBObTeoi156pojKqvZPmqhj/42wROi2U69sZ9LXfS35X1+h24SD6rZV1brUQ7ZR6xpgM2y02DKl+1a/7XodDmLKt6llUjUGJHVRFGIJX2klBJGFxVswbpWkfrtSNzW0ha3trpKX0SRxzmf7CH5dNXz25HuuLkgOZidR36mzX04SZzsknGV+EH+Y5PoZboLTxTx5PY+PF5PDuD/RHnqOXqBXKEFv0CH6hI7QElH0A/1Ev9Dv4CCgwWXAd9Jg1Mc8QwMLmr/Iz907</latexit>

<latexit sha1_base64="O5bQV3qP1dnfIgcTPgFR0tCiOmU=">AAACu3icbVHLbtQwFPWER0t4TWHJJmIGicVolFRCsGlVBAs2iFbqtJXGUeQ4N1N3bMeKnYFi+W/4Graw4W9wMlmQlitZPjr33HeuONMmjv+Mgjt3793f2X0QPnz0+MnT8d6zM101NYUFrXhVX+REA2cSFoYZDheqBiJyDuf5+kPrP99ArVklT821glSQlWQlo8R4KhsfTqchFsRcUsLticuSCM8O8CzCFoMhWTLDM5xXvNDXwn+eVJrxSnohduF0mo0n8TzuLLoNkh5MUG/H2d4IcFHRRoA0lBOtl0msTGpJbRjl4ELcaFCErskKlh5KIkCnthvURa88U0RlVfsnTdSx/0ZYInTbqVe2M+mbvpb8r6/QbcJBdduqal3qIduoVQ2wHjZabJjSfavftr0OBzHlu9QyqRoDkrooCrGEr7QSgsjC4g0Yt0xSv12pmxrawtZ2V8nLaJI457N9BL+uGj578j1XlyQHs5Wo79TZL6eJsx0SzjI/iD9McvMMt8HZ/jx5M49P9idHcX+iXfQCvUSvUYLeoiP0CR2jBaLoB/qJfqHfwUFAg6uAb6XBqI95jgYWNH8BwjXdOA==</latexit>

aux matrices de rotation R1 et R2 , respectivement. Le quaternion qui


<latexit sha1_base64="V9ZSVWf0GkHu8zhNTq3Q9drtaA0=">AAACjHicbVHLbtQwFPWkBUqAdlqWbKLOILEaxRUIJFSpVRFig2irTltpEo0c52ZqTexYtjN9WP4StvBR/A1OmgVpuZLlo3Pf92SyZNrE8Z9BsLb+5Omzjefhi5evNreG2zvnuqoVhSmtykpdZkRDyQRMDTMlXEoFhGclXGTLo8Z/sQKlWSXOzK2ElJOFYAWjxHhqPtwaj8NkBcaeujkOx+P5cBRP4taixwB3YIQ6O55vDyDJK1pzEIaWROsZjqVJLVGG0RJcmNQaJKFLsoCZh4Jw0KltJ3fRW8/kUVEp/4SJWvbfDEu41rc885GcmCv90NeQ//XluinY626bKKUL3WdruVAAy/6g+YpJ3Y16cz9rfxFTfEotE7I2IKiLojARcE0rzonIbXNQN8OpTUDoWkHT2Nqk+bIiGmHnfLUv4M+l4LsnD0t5RTIvQhsi76izP86wsy3izjK/iBcGP5ThMTjfm+APk/hkb3QQdxJtoDdoF71DGH1EB+gbOkZTRFGNfqJf6HewGbwPPgf796HBoMt5jXoWfP0LtuLKUA==</latexit>

<latexit sha1_base64="EvwQ5009EwW4ox6jiYNRvWL2T5M=">AAACjHicbVFdT9swFHUztkG2QRmPvES0k/ZUJdWmTZomMQ0hXhAfooDURJXj3BSrsWPZTjdm+ZfwCj+Kf4MT8kBgV7J8dO73PakoqNJheN/zXq28fvN2dc1/9/7D+kZ/8+O5KitJYELKopSXKVZQUA4TTXUBl0ICZmkBF+nid+2/WIJUtORn+lpAwvCc05wSrB01628Mh368BG1O7WzsD4ez/iAchY0FL0HUggFq7Xi22YM4K0nFgGtSYKWmUSh0YrDUlBRg/bhSIDBZ4DlMHeSYgUpMM7kNPjkmC/JSusd10LBPMwxmSl2z1EUyrK/Uc19N/teXqbpgp7upo6TKVZetxFwCLLqDZksqVDvq38dZu4vo/HtiKBeVBk5sEPgxhz+kZAzzzNQHtdMoMTFwVUmoGxsT11+aB4PIWldtD9y5JBw68lchrnDqRGhCxD9izdFZZE2DmDXULeKEiZ7L8BKcj0fR11F4Mh7shq1Eq2gb7aDPKELf0C46QMdoggiq0A26RXfeuvfF++H9fAz1em3OFuqYt/8AuP3KUQ==</latexit>

correspond à leur produit R1 R2 est donné par:


<latexit sha1_base64="PxR0Lv7EUjkiCOnXUqkP5q2Psgc=">AAACpHicbVHLbtQwFPWEVwmPTsuSTcQMj9UoHgnBslVZsCiiQKetNAkjx7mZsSZ2LNuZUix/Qr+GLXwIf4OTBom0XMny0bnvezJZMm3i+PcguHX7zt17W/fDBw8fPd4e7uye6KpWFGa0Kit1lhENJRMwM8yUcCYVEJ6VcJqtDxr/6QaUZpU4NhcSUk6WghWMEuOpxfDleBwmGzD2s1vgZKUloWDjSYwpd3/5aTgeL4Yjz7YW3QS4AyPU2dFiZwBJXtGagzC0JFrPcSxNaokyjJbgwqTW4LutyRLmHgrCQae23chFzz2TR0Wl/BMmatl/MyzhWl/wzEdyYlb6uq8h/+vLdVOw1902UUoXus/WcqkA1v1B8w2Tuhv129Ws/UVM8Ta1TMjagKAuisJEwDmtOCcit81B3RynNgGhawVNY2uT5suKaISd89XegT+Xgg+e3C/limRehDZEfqfOfjzGzraIO8v8Il4YfF2Gm+BkOsGvJ/Gn6Wgv7iTaQk/RM/QKYfQG7aH36AjNEEWX6Af6iX4FL4LD4EswuwoNBl3OE9Sz4OsfroLUHQ==</latexit>

✏T1 ✏2 , ⌘1 ✏2 + ⌘2 ✏1 + ✏1 ⇥ ✏2 }
<latexit sha1_base64="RdrxswtJnK2W4m4r0/BFoHdzMc8=">AAADZ3icdVJdb9MwFHVaPkb5WAcSQuLF0CIhVqokCIGEkIbggRdEJ7XbpLpEjnPbWXWcKHYKw7Lgb/IT4FfgpHlYt+5Kdo7OOb6+vjdxLrjSvv/Ha7WvXb9xc+dW5/adu/d2u3v3j1RWFgwmLBNZcRJTBYJLmGiuBZzkBdA0FnAcLz9W+vEKCsUzOdZnOcxSupB8zhnVjoq6//r9DkmpPmVUmEMbBZgMXpABPs+FjntfcYaAplFQ7yF+iUmciUSdpe7jpFxxkUn7bewc24QoHJB3TYbtOt7H69zb9aDSr1CI5imoK+SQ2E6/H3V7/tCvA18GQQN6qIlRtOcBSTJWpiA1E1SpaeDnemZooTkTYDukVJBTtqQLmDooqSthZuqhWPzMMQmeZ4VbUuOaPX/C0FRVlTpn1Wt1UavIrVqiqoQbt5vKVai52mTLfFEALDcLTVY8V02pP9a1bj5Ez9/ODJd5qUEyi3GHSPjOsjSlMjFkBdpOg5nrrlRlAdXFxtR/SzzHvcBal+0TuHYV8MWRH0R+SmPQa0v+k1nzdRxYU6PUGu4e4gYTXBzDZXAUDoPXQ/8w7B28aka0gx6jp+g5CtAbdIA+oxGaIOaNvJX3y/vd+tvebT9sP1pbW15z5gHaiPaT/4dVHQI=</latexit>

Q1 ⇤ Q2 = {⌘1 ⌘2
1
Si Q2 = Q1 , la formule précédente nous donne {1, 0} , l’élément neutre
<latexit sha1_base64="/W1OM6hWe7fT0fVxOccb3OYzyfg=">AAACqXicbVFNj9MwEHXD1xI+tgtHLhEtEhKlSiqh3QvSIjhwQWyl7W5FEyLHmXStxo5lO4XF8p/g13CFf8G/wUlz2OwykqWnN88zb2YyUVKlw/DvwLt1+87de3v3/QcPHz3eHx48OVNVLQksSFVWcplhBSXlsNBUl7AUEjDLSjjPNu+b/PkWpKIVP9WXAhKG15wWlGDtqHQ4GY/9mGF9QXBp5jadBfHkbTwJrnBfzevIppE/HqfDUTgN2whugqgDI9TFSXowgDivSM2Aa1JipVZRKHRisNSUlGD9uFYgMNngNawc5JiBSkw7lg1eOCYPikq6x3XQsld/GMyUumSZUzZu1fVcQ/43l6umYK+7aVRSFarP1mItATZ9o/mWCtVZ/b7z2h9EF0eJoVzUGjixQeDHHL6RijHMcxNvQdtVlJgYuKolNI2NafedFcEostZV+wBuXRI+OfJdKS5wBnonET+INZ9PI2taxKyhbhB3mOj6GW6Cs9k0ejMN57PRcdidaA89Q8/RSxShQ3SMPqITtEAE/US/0G/0x3vlzb2l92Un9Qbdn6eoFx75B7bH1U0=</latexit>

<latexit sha1_base64="PDrsOyERQRPUH5bdgtTQtfRLi1E=">AAACknicbVHLbtQwFPWEVwmPTnms2ETMILGoRnElBGLVqixYgChSp600jkaOczO1JnYs2xkolj+GLf2i/g1OmgVpuZLlo3Pf9+Sq4sam6dUounP33v0HWw/jR4+fPN0e7zw7MXWjGcxZXdX6LKcGKi5hbrmt4ExpoCKv4DRfH7b+0w1ow2t5bC8UZIKuJC85ozZQy/HL6TQmDu+SXbIB61JPfDydLseTdJZ2ltwGuAcT1NvRcmcEpKhZI0BaVlFjFjhVNnNUW84q8DFpDCjK1nQFiwAlFWAy183vkzeBKZKy1uFJm3TsvxmOCmMuRB4iBbXn5qavJf/rK0xbcNDdtVHalGbINmqlAdbDQYsNV6Yf9ef1rMNFbPkhc1yqxoJkPkliIuEHq4WgsnDtQf0CZ46ANI2GtrFzpP3yMplg70O1TxDOpeFrIA8qdU7zIEIXon4x774dY+86JLzjYZEgDL4pw21wsjfD72bp973JftpLtIVeodfoLcLoPdpHn9ERmiOGHPqN/qDL6EX0MTqIDq9Do1Gf8xwNLPryF6iMzG8=</latexit>

(ou identité) du produit. Comme le produit matriciel, le produit de quaternions


n’est pas commutatif, à savoir Q1 ⇤ Q2 6= Q2 ⇤ Q1
<latexit sha1_base64="ttZVhomp3iaRN96ryRMSCb7BIVA=">AAACz3icbZFNb9MwGMfd8LIR3jo4colokRCaqrgSYschOHBBrGjdJjVR5ThPO6uxY2ynY1hGXPlGfBUuXOFj4KQ5LN0eydJfv+dv+3nJZMG0iePfveDW7Tt3d3bvhfcfPHz0uL/35ESXlaIwpWVRqrOMaCiYgKlhpoAzqYDwrIDTbPWuzp+uQWlWimNzKSHlZCnYglFiPJr3Pw+HYcKJOaeksBM3x1Gy/yrZj66ysWeJgC834G0rDofDeX8Qj+ImousCt2KA2jia7/UgyUtacRCGFkTrGY6lSS1RhtECXJhUGiShK7KEmZeCcNCpbZp30QtP8mhRKn+EiRp69YYlXOtLnnlnXajeztXwxlyu6wc7v9vapfRCd2kllwpg1S00XzOp21K/bmrtNmIWB6llQlYGBHVRFPoZX9CScyJym6zBuBlObQJCVwrqj61tRp0togF2zr/2Hvy4FHz08G0hz0kGZmOR36izn46xs43izjLfiF8M3l7DdXEyHuHXo3gyHhzG7Yp20TP0HL1EGL1Bh+gDOkJTRNEv9Af9Rf+CSXARfA9+bKxBr73zFHUi+PkfJV3jiw==</latexit>

36
Représentations de l’orientation

Sommaire des propriétés des 4 représentations de l’orientation


d’un corps rigide dans l’espace 3D

Matrice de Angles d’Euler Angle et Quaternion


Représentation
rotation (ZYZ, ZYX, etc.) axe unitaire

Globale Oui Non Non Oui

Unique Oui Non Non Non

Minimale Non Oui Non Non

Remarque:
Une représentation de l’orientation est dite globale,
s’il n’y a pas de singularités dans le problème inverse

37

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