WORLD-Coordinate System

Robot - WORLD-coordinate system

The WORLD-coordinate system is a cartesian coordinate system for describing the location of the points within the workspace. Here, a work point is specified in the form of coordinates:    P(x, y, z)

Robot world coordinate system

Robot world coordinate system

Advantage:    Detailing the points in WORLD-coordinates is simple. Linear movements can be programmed easily.

Disadvantage: Ambiguity - that means that a certain position can be achieved with a plurality of axial positions. This is concerns especially jointed-arm robots.

Ambiguity of an articulated robot

Ambiguity of an articulated robot

The coordinate details also have transformed into joint coordinates. This implicates a high computational effort for controlling and a major programming effort for the producer control unit.

robot coordinate transformation

robot coordinate transformation

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