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# Robotics Toolbox for Matlab

Document source : www.dii.unisi.it

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tr2eul
67
tr2eul
Purpose
Convert a homogeneous transform or rotation matrix to Euler angles
Synopsis
e = tr2eul(M)
Description
Returns a vector of Euler angles [
,
,
M
.
M
is either a rotation matrix,
or the rotation part of the homogeneous transform is taken.
R
= R
Z
(
)R
Y
(
)R
Z
(
)
Cautionary
Note that 12 different Euler angle sets or conventions exist. The convention used here is the common
one for robotics, but is not the one used for example in the aerospace community.
eul2tr, tr2rpy
References
R. P. Paul, Robot Manipulators: Mathematics, Programming, and Control.
Cambridge, Mas-
sachusetts: MIT Press, 1981.
Robotics Toolbox Release 8
Peter Corke, December 2008

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Summary :

## tr2eul 67 tr2eul Purpose Convert a homogeneous transform or rotation matrix to Euler angles Synopsis e = tr2eul(M) Description Returns a vector of Euler angles [ , , ], in radians, corresponding to M .

Tags : rotation,euler,homogeneous,matrix,tr2eul,angles,robotics,used,transform,peter,synopsis,cautionary,returns
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