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)?

  • $\begingroup$ I think those Rx, Ry & Rz angles are basic rotations. The rotation around the x axis, y axis & z axis respectively. Staubli is just a textile company, correct? Why would they use anything but common Rotation Matrix math? $\endgroup$
    – st2000
    May 23 at 2:08
  • $\begingroup$ Staubli is also a robot manufacturer $\endgroup$ May 23 at 7:12

1 Answer 1


Consider using elemental rotation matrices as defined on this wikipedia.org page:

elemental rotation matrices from wikipedia

... 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:

enter image description here


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