UFactory xArm User Manual

9
Roll/Pitch/Yaw
The equivalent rotation matrix is:
( ) ( ) ( ) ( )

XYZXYZ
A
B
RRRR =,,
Note: γ corresponds to roll; β corresponds to pitch; α corresponds
to yaw.

UFactory xArm Specifications

General

Brand	UFactory
Model	xArm
Category	Robotics
Language	English