9.2.2.5 Cylindrical Coordinates
In the cylindrical coordinates, the manipulator rotates around the Z axis of the body or moves
parallel to the Z axis at right angles. The θ-axes, R-axes and Z-axes directions of the cylindrical
coordinates are shown as below.
9.2.2.6 Control Points Remain Unchanged
The operation in which the control point remains unchanged means that the position of the
tool tip point (control point) is not changed, and only the axis operation of the tool posture is
changed. Turning of each wrist axis differs in each coordinate system.
In Cartesian or cylindrical coordinates, wrist axis rotations are based on the X-, Y-, or Z-axis.
In the Cartesian/cylindrical coordinates, the X-, Y-, and Z-axis of the body are used as the
reference for the rotate motion.
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