Representation of

Orientation of end-effector
Fixed angle V/s Eular angle
• Fixed Angle
• Reference coordinate system
• Pre-multiply matrices
• Eular Angle
• Moving coordinate system
• Post-multiply matrices
End effector Orientation
X-Y-Z Fixed Angle (Roll Pitch Yaw)
Z-Y-Z Eular angle
Z-Y-Z Eular angle
Z-X-Z Eular angle
XYZ Fixed angle representation
 Z {A}
A
{B}
X-Y-Z Fixed Angle 
A
Z {A} Z
B B
Y
A
Z {A}
B
Z
B
Z {B} B
Y A
Y
{B} β
 Y
B
A
Y X
A X
B

Y
A
B
X X
A B
X
X
A

R(z,) R(y,β) R( x, )

Pre-multiplication
• Rotational Transform (Pre-multiplication) (rotation are in reference
coordinate system)
• R = R(z,) ×R(y,β) ×R( x, )
ZYZ Eular angle representation
 Z {A}
A
{B}
Z-Y-Z Eular AngleA Z
B B
Y
Z {A}
A
Z {A} 
Z
B {B}
Z
B
β
B
Y A
Y
 {B}
Y
B
A
X X
B
A
Y
Y
A
X
B
B
X X
A

X
A

R( z, ) R(y,β) R(z,)

• Rotational Transform (Post-multiplication) (rotation are in moving
coordinate system)
• R = R(z,) ×R(y,β) ×R( z, )
• Home Work: Determine Rotation matrix and solution of angles for
following Eular angle representation.
• ZXZ – Eular angle
• ZYX – Eular angle