Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 48 of 77
right skins. For example, the pendant port is located in the rear left skin. The origin of the
coordinate system is the AMR's center of rotation, not its geometric center.
Coordinates are required for procedures such as installing and configuring options such as
lasers and the Acuity camera, and for understanding the center of gravity envelope. The
AMR's coordinates also relate to the map coordinates.
The rotation value Theta (θ) specifies the AMR's angle of rotation, which determines its
heading, or direction of travel.
The vertical coordinate (Z) is required when you calculate the mount position of options
(such as side lasers). You then specify the position of the option in MobilePlanner.
Figure 10: AMR coordinate system
See: Dimension Drawings on page 191 (LD-250 Platform User’s Guide, Rev-B) for the
location of the AMR's center of rotation.
5.2.9 Center of Gravity (CG)
Keep your payload structure's center of gravity (CG) centered over the LD-250's own center
of gravity and as low (close to the LD-250's top) as possible. This provides optimum stability,
particularly when the LD-250 crosses raised thresholds or irregularities in the floor.
See: Dimension Drawings on page 191 (LD-250 Platform User’s Guide, Rev-B) for
information that will help you design and locate the payload, in particular:
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