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, 2023 at 2:08
  • $\begingroup$ Staubli is also a robot manufacturer $\endgroup$ May 23, 2023 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


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.