Nick very perceptively pointed out:

>Perhaps that's so now, but during the 84 year orbit of Uranus,
>the spin axis will remain pointing like a gyroscope towards the
>stars, but the position of the Sun (and Earth) will change until
>the moons become fully eclipsing, although Uranus will still be
>tilted on its side.
>
>And then it'll move on and anyone still alive will see the other
>pole...

As usual, Nick is correct. I was lucky when I did my student observations that the axis of rotation for Uranus was pointed almost directly at the Earth. If you look at the diagram that Raoul linked:

http://skyandtelescope.com/observing/objects/planets/article_1549_1.asp

You'll see the observed orbital traces appear to be very elliptical. That's because we're looking at them from an angle. When I did my observations over 2 decades ago, the traces were almost perfect circles. Consequently, I did not have to go through the fuss and bother of a Euler matrix transformation when I did my calculations (much easier).

Gary