Thank you very much for your help.
My question is:
With respect to the world frame, I have some coordinates (x,y,z) representing a position, as well as a unit vector (i,j,k) representing a certain orientation, but I need to convert the unit vector to rotation angles (rx,ry,rz in degrees) for the control of Epson / Fanuc robot arm. Just wondering if you know how to do the conversion?