Owning Palette: Robotic Arm VIs
Requires: Robotics Module. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.
Use the Homogenous Transforms VIs to convert between transforms, quaternions, and angle representations.
Palette Object  Description 

Angle Vector to Rotation Matrix  Returns a rotation matrix that corresponds to a rotation of angle around a vector.
.m file: angvec2r 
Create Transform from Translation  Returns a homogenous transform that represents the translation of a point in one coordinate frame by values along the x, y, and zaxes to convert the point to coordinates of another coordinate frame. 
Euler Angles to Rotation Matrix  Converts the Z, X, and Z Euler angle values you specify to the corresponding rotation matrix.
.m file: eul2r 
Get Translation Vector  Returns the translation coordinates of the homogenous transform you specify.
.m file: transl 
Quaternion to Rotation Matrix  Converts a unit quaternion to the corresponding rotation matrix. 
Roll Pitch Yaw to Rotation Matrix  Converts roll, pitch, and yaw angles to the corresponding rotation matrix.
.m file: rpy2r 
Rotation Matrix to Angle Vector  Converts a rotation matrix to the corresponding angle and vector by which the rotation occurs.
.m file: tr2angvec 
Rotation Matrix to Euler Angles  Converts the rotation matrix you specify to Z, X, and Z Euler angles.
.m file: tr2eul 
Rotation Matrix to Quaternion  Converts a rotation matrix to the corresponding unit quaternion. 
Rotation Matrix to Roll Pitch Yaw  Converts a rotation matrix to the corresponding roll, pitch, and yaw values.
.m file: tr2rpy 
Rotation Matrix to Transform  Returns the transform that corresponds to the rotation matrix and translation vector you specify.

Transform to Rotation Matrix  Returns the corresponding rotation matrix for the homogenous transform you specify.
.m file: t2r 