Conversion of Rotation Matrix along Axies
Decompose a rotation matrix into 3 rotations along x, y, and z axis.
\[Rx = \begin\[\begin{matrix} 1 & 0 & 0\\0 & cos\phi & -sin\phi\\0 & sin\phi & cos\phi \end{matrix}\end\]\]
The rotation matrix
\(R_xR_yR_z=\begin{matrix}1 & 0 & 0\\ 0 & 1 & 0 \\ 0 & 0 & 1\end{matrix}\tag{1}\)