IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 445 / 844

Chapter 7 6-axis Cartesian Robot
7.1 Guideline of Coordinate Systems
7-5
ME0392-4C
7.1.4 Orthogonal coordinate system
The orthogonal coordinate system should be defined as shown in the figure below with the right-
handed system to determine the direction of the right-handed screw on each axis to go along as
the positive rotation directions.
Six coordinates shown below should determine the position and posture.
• X, Y, Z : Coordinates to present the positions on the X-, Y- and Z-axes (Unit: [mm])
• Rx, Ry, Rz : Coordinates to present posture (Unit: [deg])
The posture data should show Rx: rotation around X coordinate direction, Ry: rotation around Y
coordinate direction and Rz: rotation around Z coordinate direction and each turns in the order
of (1) Rx
→ (2) Ry → (3) Rz. As it may result in a different posture with a change to the order for
turn, it is necessary to have them turn in the order above.
7.1 Guideline of Coordinate Systems
ME0392-4C
7-6
● For ( Rx, Ry, Rz) = (90deg, 90deg, -90deg)
(Rx, Ry, Rz) = (0, 0, 0)
(Rx, Ry, Rz) = (90, 90, -90)
(Rx, Ry, Rz) = (90, 0, 0)
(Rx, Ry, Rz) = (90, 90, 0)
1) Turn in 90deg around
X-axis
2) Turn in 90deg around
Y’-axis
3) Turn in -90deg around
Z’’-axis
1)
2)
3)