UFactory 850 - Page 8

8
TCP Motion
TCP motion is the Cartesian space motion, with target position in
Cartesian space coordinate and the end follows the specified
trajectory (arc, line, etc.).
TCP Payload
（End Payload）
The payload weight refers to the actual (end tool +other object)
weight in Kg; the X / Y / Z-axis indicates the position of the center
of mass of the TCP relative to the default tool coordinate system,
with unit of mm.
TCP Offset
(Tool Center Point
Offset)
Set the relative offset between the default tool coordinate system at
flange center and the actual tool coordinate system, with distance
unit of mm.
Roll/Pitch/Yaw
Roll / Pitch / Yaw sequentially rotates around the X / Y / Z of the
selected coordinate system (base coordinate system).
The following describes the roll/pitch/yaw orientation
representation of {B} relative to {A}:
For example, the coordinate system {B} and a known reference
coordinate system {A} are first superposed. First rotate {B} around
A
X
ˆ
by γ, then around
A
Y
ˆ
by β, and finally around
A
Z
ˆ
by α.
Each rotation is around a fixed axis of the reference coordinate
system {A}. This method is called the XYZ fixed angle coordinate
system, and sometimes they are defined as the roll angle, pitch
angle, and yaw angle.
The above description is shown in the following figure:
The equivalent rotation matrix is:
       

XYZXYZ
A
B
RRRR ,,
Note: γ corresponds to roll; β corresponds to pitch; α corresponds
to yaw.