I would like to perform a rotational transformation for angles
that DO commute. I'm aware of the Euler (actually Cardanian)
transformation in which each successive rotation is about the
previously rotated coordinate axes. However, in the case of
a gimbaled mechanism, say a altitude-azimuth mount, what is
the appropriate rotation matrix ?
A related problem concerns the rotation matrix for a 3-D mechanism
in which the angles are measured relative to a fixed coordinate system,
say the earth.