25
15 luglio 2019
The figure belowFigure 7-2 represents the mechanical interface coordinate
system
Σ
M
(O
M
; X
M
, Y
M
, Z
M
)
of an articulated robot, as defined by ISO
9787:2013. In particular, the center of the coordinate system,
O
M
, is on the
interface surface of the robot tool flange and the
Z
M
axis is coincident with
the tool flange axis of symmetry.
Figure 7-2 mechanical interface coordinate system
Σ
M
(O
M
; X
M
, Y
M
, Z
M
)
of a generic articulated
robot. R
i
is the i-th revolute joint of the robot.
(O
1
; X
1
, Y
1
, Z
1
)
is the base coordinate system of
the robot.
The system
Σ
T
(O
T
; X
T
, Y
T
, Z
T
)
is the Tool Coordinate System of the device.
The center,
O
T
, coincides with the center
O
M
. The
Z
T
axis is normal to the
palm, outgoing positive, and the
Y
T
axis is normal to the flange plane.
This definition implies that
Σ
T
is the same for left and right one. So, the
positive orientation of
X
T
axis will be on the side of the thumb in the right
hand and on the side opposite to the thumb in the left hand.
Figure 7-3 shows the system
Σ
T
.
