About Euler angle (Z, Y' ,Z'') Michael2022 Junior Member Posts: 3 Threads: 2 Joined: Mar 2023 Reputation: 0 03-16-2023, 01:27 PM We use Doosan robot, which use Euler angle (Z,Y',Z'') in RoboDK.   Why dose RoboDK use Y' instead Y here? Dose Y' mean the rotated Y after rotating around the axis Z?  Thank you very much. Find Reply Albert Moderator Posts: 1,816 Threads: 1 Joined: Apr 2018 Reputation: 97 03-16-2023, 03:31 PM What you describe is correct. The Y' means that the rotation happens after the first Z rotation. Find Reply Michael2022 Junior Member Posts: 3 Threads: 2 Joined: Mar 2023 Reputation: 0 03-17-2023, 01:47 PM (03-16-2023, 03:31 PM)Albert Wrote: What you describe is correct. The Y' means that the rotation happens after the first Z rotation. Thank you very much. You means that, in ZY'Z'', Y' is the rotated Y after Z rotation and Y' is the original Y. Right? Find Reply Albert Moderator Posts: 1,816 Threads: 1 Joined: Apr 2018 Reputation: 97 03-17-2023, 02:31 PM That's correct. In short, you could also calculate the pose this way: Code:`transl(x,y,z) * rotz(ra) * roty(rb) * rotz(rc)` Find Reply