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1.5.6.2 TCP Coordinate System
A: Base coordinate system B: Tool coordinate system
The default TCP coordinate system is defined at the centre point of the
end flange of the robotic arm, and it is the result of rotating [180°, 0°, 0°]
around the X/Y/Z-axis of the base coordinate system in order. The
spatial orientation of the TCP coordinate system changes according to
the changes of the joint angles.
● Roll/Pitch/Yaw respectively rotates around X/Y/Z of the base
coordinate system, and the final TCP orientation is the result of the
three rotations in exact order. The robotic arm will always choose the
shortest way to reach target orientation. In particular, it is important
to strictly control the magnitude of the deflection angle between the
two points to control the direction of rotation, and if necessary, insert
a third point between the two points. As shown in figure 6.4, if a
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