GB/T 16977-2019Robots and robotic devices - Coordinate systems and motion nomenclatures (English PDF)

4.1 Right hand coordinate system

All coordinate systems described in this standard are determined by orthogonal right-hand rules, see Figure 1.

Figure 1 Right hand coordinate system

4.2 Mobile

The movement along the X, Y, and Z axes is expressed as follows.

Or -X along the X axis;

Or -Y along the Y axis;

Or -Z along the Z axis.

4.3 Turning

The representation of the rotation around the X, Y, and Z axes is as follows.

Or -A around the X axis;

Or -B around the Y axis;

Or -C around the Z axis;

A, B, and C are also referred to as the slewing angle, the pitch angle, and the yaw angle, respectively.

The positive directions of A, B, and C are positive in the direction in which the right-handed spiral advances in the positive direction of X, Y, and Z, respectively (see Figure 2).

The general rotation is expressed by a combination of independent rotations.

Description.

A --- swivel angle;

B --- pitch angle;

C --- deflection angle.

Figure 2 Rotating

4.4 The principle of naming the operating shaft

If the axis is defined by a number, the first axis of motion next to the mounting surface of the base should be axis 1, and the second axis of motion should be axis 2, in turn

Push, and the axis m is the axis of motion that is coupled to the mechanical interface.

Note. See Appendix A for an example.

5.1 Absolute coordinate system O0-X0-Y0-Z0

The origin O0 of the absolute coordinate system should be determined by the user as needed. The Z0 axis is collinear with the gravity acceleration vector, but its direction

anti. The direction of the X0 axis should be determined by the user as needed (see Figure 3).

5.2 Base coordinate system O1-X1-Y1-Z1

The origin O1 of the base coordinate system shall be specified by the robot manufacturer. The positive direction of the Z1 axis, perpendicular to the mounting surface of the robot base, refers to

Direction to its mechanical structure. The direction of the X1 axis is from the origin to the projection of the center point of the robot workspace on the mounting surface of the base Cw

(See Figures 3 and 4). When this convention cannot be achieved due to the construction of the robot, the direction of the X1 axis should be specified by the manufacturer.

Note. Appendix A lists the application examples of the frame coordinate system and the mechanical interface coordinate system.

Figure 3 Example of a coordinate system

5.3 Mechanical interface coordinate system Om-Xm-Ym-Zm

The origin of the mechanical interface coordinate system, Om, is the center of the mechanical interface. The direction of the Zm axis is perpendicular to the center of the mechanical interface. Xm axis

Is defined by the intersection of the mechanical interface plane and the Y1Z1 plane (or plane parallel to X1Y1), and the Xm axis is parallel to Z1

(X1), while the main and auxiliary joint axes of the robot are in the middle of the range of motion. When the construction of the robot cannot achieve this convention, it should

The position of the main joint axis is specified by the manufacturer (see Figure 3).

Note. An application example of the frame coordinate system and the mechanical interface coordinate system is given in Appendix A.

Figure 4 Example of a robot workspace

5.4 Tool Coordinate System (TCS) Ot-Xt-Yt-Zt

The origin Ot of the tool coordinate system is the tool center point (TCP) (see Figure 5). The Zt axis is tool-dependent and is usually the tool's finger.

to. When the flat jaw gripper is clamped, the Yt axis is in the direction of the plane of movement of the finger.

Figure 5 Example of the tool coordinate system

5.5 Mobile platform coordinate system Op-Xp-Yp-Zp

The origin Op of the mobile platform coordinate system is the origin of the mobile platform. The Xp axis usually refers to the direction in which the mobile platform is moving forward.

The Zp axis usually refers to the upward direction of the moving platform (see Figure 6).

Figure 6 Mobile platform coordinate system example

5.6 Job coordinate system Ok-Xk-Yk-Zk

A description of the job coordinate system is shown in Figure 7.

Description.

1---absolute coordinate system;

2---frame coordinate system;

3---mechanical interface coordinate system;

4---tool coordinate system;

5---job coordinate system;

6---object coordinate system;

7---camera coordinate system;

8---TCP;

9---gripper.

Figure 7 Coordinate system when the object is transported

5.7 object coordinate system Oj-Xj-Yj-Zj

The description of the object coordinate system is shown in Figure 7.

5.8 Camera coordinate system Oc-Xc-Yc-Zc

A description of the camera coordinate system is shown in Figure 7.

Appendix A

(informative appendix)

Application examples of various mechanical structure type robots

Examples of applications for various types of mechanical structure robots are shown in Figure A.1 to Figure A.5.

Figure A.1 Cartesian robot

Figure A.2 Cylindrical coordinate robot

Figure A.3 Polar Coordinate Robot

Figure A.4 Joint coordinate robot

Figure A.5 SCARA Robot

references

[1] GB/T 19400-2003 Industrial robot grip type gripper object handling vocabulary and characteristic representation

[2] ISO 9283.1998 Manipulatingindustrialrobots-Performancecriteriaandrelatedtestmethods

[3] ISO 9946.1999 Manipulatingindustrialrobots-Presentationofcharacteristics

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