The importance of mathematics in robotics is fundamental as it provides the necessary tools and theoretical framework to understand, design, and control robotic systems effectively. In robotics, Euler angles are commonly used to represent orientation; however, mathematical analysis is performed using other tools, such as matrices and screw theory, or Rodrigues’ formula, which allows mathematical expression of the Euler rotation theorem. Thus, the study of mathematical tools is essential to model the motion of robotics systems. In this chapter, the main mathematical tools for robotics modeling are studied, which are also the starting point for the design, evaluation, and control strategies.