14
7.
operating the omega.x
7.1
coordinate system
base translation
The position of the center of the end-effector (handle) is expressed in Cartesian coordinate and in
IUS (metric) unit. Figure 5 illustrates the coordinate system.
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 5 – Cartesian coordinate system of the omega.x haptic device
X-axis
Y-axis
Z-axis
