COMPLETE COMMUTATIVITY OF FINITE ROTATIONS OF CARDAN SUSPENSION SYSTEM

Using the concepts on composition finite rotations of a rigid body about space axes, body axes and middle-axes presented in this paper, it is demonstrated that the attitude of rigid body in Cardan suspension is independent from the rotation sequence of Cardan angles completely. This commutativity is convenient for achievment of the attitude of a manipulator. The proof method in this paper is simple and visual.