In 3D, rotation matrices are used to rotate objects around the x, y, or z axes. Each axis has its own specific rotation matrix. For example, rotating around the z-axis uses a matrix that leaves the z-coordinate unchanged but rotates the x and y coordinates, effectively spinning the object in the xy-plane. Similarly, rotating around the x-axis affects the y and z values, while rotating around the y-axis affects the x and z values. These 3x3 matrices are always orthogonal, meaning their rows and c

Modern Robotics, Chapter 3.2.1: Rotation Matrices (Part 2 of 2)