Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
119
Translation Specification of Point
The translation specifies the position vector of the point as discussed above with
three components X,Y,Z.
Rotation Specification of Point -
n,o,a
The orientation specifies the orientation of the point specified by three vectors as
shown in the figure above. The approach vector
a
specifies how the object is
approached by the robot’s end effector as shown in the figure above. The
orientation vector
o
specifies orientation of the end effector fingertip to fingertip
when approaching the object as shown in the figure above. The final vector,
known as the normal vector
n
is a vector normal to the plane formed by approach
and orientation vectors. The
n
vector is X in the robot wrist coordinate system,
the
o
vector is Y, and the
a
vector is Z.