Coordinates of a robot system

For the programmer, various robot coordinate systems are available, which can be used to determine for example  the position and orientation of the TCP robot coordinate systems - Robot coordinate systemsmuch easier, to get the geometry of a workpiece, etc.

Robotic systems are generally defined as Cartesian coordinate systems:

      • Robot World Coordinate System
      • Robot origin coordinate system or ROBROOT coordinate system
      • Workpiece and / or BASE coordinate system
      • Robot Tool coordinate system

      The ROBOOT-Koordinatensystem is a cartesian coordinate system, which has its origin at the footprint of a robot. It describes the position of the robot regarding the World-coordintes. 

      It is useful to set the origin of the ROBOOT coordinate system with the origin of the WORLD coordinate system. See the figure above .