2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate System
2-2
HW1485509
HW1485509
2.1.2 Types of Coordinate System
The following coordinate systems are used to operate the manipulator.
Type Description
Joint Coordinate Allows user to move each joint axis
independently.
XYZ - World Coordinate Allows user to move the manipulator in Cartesian
directions relative to the manipulator base.
XYZ - Tool Coordinate Allows user to move the manipulator in Cartesian
directions relative to the tool. The direction of the
tool attached to the wrist flange of the
manipulator is defined as Z-axis, and Cartesian
coordinates are defined at the tip of the tool.
XYZ - User Frame Coordinate Allows user to move the manipulator in Cartesian
directions relative to a “user frame.”
Joint Coordinate XYZ World Coordinate XYZ Tool Coordinate XYZ User Coordinate
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