17
Operating the lambda.7
7.1
Coordinate system
base translation
The position of the center of the end-effector (handle) is expressed in Cartesian coordinates and
in IUS (metric) units. Figure 14 illustrates the coordinate system. You will notice that the Z-axis of
the coordinate system is parallel to the first revolute axis of the wrist.
The actual origin of the coordinate system (0,0,0) is located on a virtual point situated at the cen-
ter of the physical workspace of the haptic device.
Figure 14
–
Cartesian coordinate system of the lambda.7 haptic device
X-axis
Y-axis
Z-axis
