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Mobile Robot HD Safety Manual
31500-100 RevA
2.18 Payload Structure
the rear of the AMR, and the +X direction is the direction of AMR forward travel. Refer to the
following figure.
The origin of the AMR coordinate system is the ideal point on the floor exactly half way
between the center of the two drive wheels. The origin of the coordinate system is the AMR's
center of rotation.
Coordinates are required for procedures such as installing and configuring options such as
lasers, and for understanding the center of gravity envelope. The AMR's coordinates also relate
to the map coordinates.
The rotation value Theta (θ) specifies the AMR's angle of rotation, which determines its head-
ing, or direction of travel.
The origin of the vertical coordinate (Z) is set at ground level (Z=0). The value of Z is required
when you calculate the mount position of options (such as side lasers). You then specify the
position of the option in MobilePlanner.
Y
Z
X
D
A
B
C
Figure 2-28. AMR Coordinate System
Callout AMR Reference
Theta θ
(Rotation)
X, Y
Coordinate
A
Left side
+90 degrees Positive Y
B
Right side
-90 degrees
Negative Y
C
Front
0 degrees
Positive X
D
Rear
180 degrees
Negative X
Additional Information
: For location of the AMR's center of rotation, refer to
HD-1500 Platform User's Manual (Cat. No. I645)
.
Center of Gravity (CG)
Keep your payload structure's center of gravity (CG) centered over the HD-1500's own center of
gravity and as low (close to the HD-1500's top) as possible. This provides optimum stability,