Universal Robots UR3/CB3 - Definition of the Line Feature

13.12 Installation → Features
Figure 13.3: Definition of the line feature
In figure 13.3 the axis directed from the first point towards the second point, constitutes the y-axis of
the line coordinate system. The z-axis is defined by the projection of the z-axis of p1 onto the plane
perpendicular to the line. The position of the line coordinate system is the same as the position of
p1.
Version 3.10
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II-57 CB3