Optimal Orientation Transfer of a Rigid Body

In this work, an approach for finding the optimal path for the orientation transfer of a rigid body is made between two arbitrary initial and final orientations. Deviating from the conventionally used method using quaternions, Euler Axis-Angle method is used to optimize and visualize the orientation change. The work includes defining some possible paths between two orientations and optimizing them subjected to conditions like minimization of kinetic energy, minimization of energy expenditure, smooth ascending and descending phases, etc., and comparing them at the end. Also, the influence of the body moment of inertia variation in optimal path is studied and discussed.