Installation manual

Chapter 2. ARM DESIGNATION AND MOTION
２－10
Conversions responding to the rotation angle θ around X, Y and Z-axis are:
1 0 0 0
Rot ( x, θ ) = 0 cosθ -sinθ 0
0 sinθ cosθ 0
0 0 0 1
cosθ 0 sinθ 0
Rot ( y, θ ) = 0 1 0 0
-sinθ 0 cosθ 0
0 0 0 1
cosθ -sinθ 0 0
Rot (z, θ ) = sinθ cosθ 0 0
0 0 1 0
0 0 0 1
Memo