I want to know the transformation matrix between End effector and Robot base (FK). Staubli gives me x,y,z and Rx,Ry,Rz. Those three Rotations are Euler angles? How could I transform those Euler angles to Rotation matrix? What convention of Euler does Staubli use? It should be R = Rz(φ)Ry(θ)Rx(ψ)?
Consider using elemental rotation matrices as defined on this wikipedia.org page:
... then substituting the angle into the trigonometric functions in the matrix and finally cross multiplying the X, Y & Z matrix with the rotation matrix. For example to rotate a vector [1, 0, 0] 90 degrees about the Z axis perform the following calculations: