Dobot CR5 - Arm Orientation

DOBOT CR5 User Guide 2 Overview
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
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Figure 2.15 The default User coordinate system of CR5 robot
Arm Orientation
Table 2.3 lists the values of the R, D, N arm parameters and their right orientations.
Table 2.3 R, D, N identification
Arm parameter
1
-1
R
Righty hand orientation
Lefty hand orientation
D
Above elbow orientation
Below elbow orientation
N
No-flip wrist orientation
Flip wrist orientation
Besides, in this system, we use Cfg to represent the sixth-axis angle, as shown in Table 2.4.
Table 2.4 Cfg identification
Cfg
The sixth-axis angle
…
…
2
[90°,180°)
1
(0°,90°)
-1
[0°,-90°)
-2
[-90°,-180°)
…
…