ROBOT REFERENCE FRAMES

PRASHANTH B N
Assistant Professor
Department of Mechanical Engineering
Amrita School of Engineering
 WHAT IS A COORDINATE SYSTEM

 A coordinate system or reference frame defines a plane or space by axes from a fixed
point called the origin.
 Robot targets and positions are located by measurements along the axes of coordinate
systems.
 Robots may be moved relative to different coordinate frames.
 In each type of coordinate frame, the motions will be different.
 Robot motions are usually accomplished in the following coordinate frames:
 Base coordinate system
 Work object coordinate system
 Tool coordinate system
 World coordinate system
 User coordinate system
 Joint coordinate system
 WHAT IS A COORDINATE SYSTEM

 A robot uses several coordinate systems, each suitable for specific types of jogging or
programming.
 The base coordinate system is located at the base of the robot. It is the easiest one for
just moving the robot from one position to another.
 The work object coordinate system is related to the work piece and is often the best one
for programming the robot.
 The tool coordinate system defines the position of the tool the robot uses when reaching
the programmed targets.
 The world coordinate system that defines the robot cell, all other coordinate systems are
related to the world coordinate system, either directly or indirectly. It is useful for
jogging, general movements and for handling stations and cells with several robots or
robots moved by external axes.
 The user coordinate system is useful for representing equipment that holds other
coordinate systems, like work objects.
 The joint coordinate system is useful for specifying the movements of individual joints
of the robot.
 BASE COORDINATE SYSTEM

 The base coordinate system has its zero

point in the base of the robot, which makes
movements predictable for fixed mounted
robots.
 It is therefore useful for jogging a robot
from one position to another.
 For programming a robot, other coordinate
systems, like the work object coordinate
system are often better choices.
 When you are standing in front of the robot
and jog in the base coordinate system, in a
normally configured robot system, pulling
the joystick towards you will move the
robot along the X axis, while moving the
joystick to the sides will move the robot
along the Y axis. Twisting the joystick will
move the robot along the Z axis.
 WORLD COORDINATE SYSTEM

 Universal coordinate frame, as defined by

the x-, y-, and z-axes.
 Joints of the robot move simultaneously in
a coordinated manner to create motions
along the three major axes.
 No matter where the arm, a positive
movement along the x-axis is always in the
plus direction of the x-axis, etc.
 Used to define the motions of the robot
relative to other objects, define other parts
and machines with which the robot
communicates, and define motion
trajectories.
 WORLD COORDINATE SYSTEM

 The world coordinate system has its zero

point on a fixed position in the cell or
station.
 This makes it useful for handling several
robots or robots moved by external axes.
 By default the world coordinate system
coincides with the base coordinate system.

A Base coordinate system for robot 1

B World coordinate
C Base coordinate system for robot 2
 WORK OBJECT COORDINATE SYSTEM

 The work object coordinate system corresponds to the work piece:

It defines the placement of the work piece in relation to the world
coordinate system (or any other coordinate system).
 The work object coordinate system must be defined in two frames,
the user frame (related to the world frame) and the object frame
(related to the user frame).
 A robot can have several work object coordinate systems, either
for representing different work pieces or several copies of the
same work piece at different locations.
 It is in work object coordinate systems you create targets and paths
when programming the robot. This gives a lot of advantages:
 When repositioning the work piece in the station you just change
the position of the work object coordinate system and all paths are
updated at once. A World coordinate system
 Enables work on work pieces moved by external axes or conveyor B Work Object coordinate system 1
tracks, since the entire work object with its paths can be moved. C Work Object coordinate system 2
 TOOL COORDINATE SYSTEM

 Specifies movements of the robot’s hand

relative to a frame attached to the hand, and
consequently, all motions are relative to this
local n, o, a frame.
 Unlike the universal World frame, the local
Tool frame moves with the robot.
 Suppose the hand is pointed as shown in the
figure, moving the hand relative to the
positive n-axis of the local Tool frame will
move the hand along the n-axis of the Tool
frame.
 If the arm were pointed elsewhere, the same
motion along the local n-axis of the Tool
frame would be completely different from the
first motion.
 TOOL COORDINATE SYSTEM

 The same +n-axis movement would be

upward if the n-axis were pointed
upward, and it would be downward if the
n-axis were pointed downward.
 As a result, the Tool reference frame is a
moving frame that changes continuously
as the robot moves; therefore, the ensuing
motions relative to it are also different
depending on where the arm is and what
direction the tool frame has.
 All joints of the robot must move
simultaneously to create coordinated
motions about the Tool frame.
 The Tool reference frame is an extremely
useful frame in robotic programming
where the robot is to approach and depart
from other objects or to assemble parts.
 TOOL COORDINATE SYSTEM

 The tool coordinate system has its zero position at the center
point of the tool. It thereby defines the position and orientation
of the tool. The tool coordinate system is often abbreviated
TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).
 It is the TCP the robot moves to the programmed positions,
when executing programs. This means that if you change the
tool (and the tool coordinate system) the robot’s movements
will be changed so that the new TCP will reach the target.
 All robots have a predefined tool coordinate system,
called tool0, located at the wrist of the robot. One or many
new tool coordinate systems can then defined as offsets
from tool0.
 When jogging a robot the tool coordinate system is useful
when you don’t want to change the orientation of the tool
during the movement, for instance moving a saw blade
without bending it.
 USER COORDINATE SYSTEM

 The user coordinate system can be used for

representing equipment like fixtures,
workbenches.
 This gives an extra level in the chain of related
coordinate systems, which might be useful for
handling equipment that hold work objects or
other coordinate systems.

A User coordinate system, moved with world coordinate system

B World coordinate system
C Base coordinate system
D User coordinate system, moved with world coordinate system

E Work object coordinate system, moved with user coordinate system

 JOINT COORDINATE SYSTEM

 Used to specify movements of individual joints

of the robot.
 Each joint is accessed and moved individually;
therefore, only one joint moves at a time.
 Depending on the type of joint used (prismatic,
revolute, or spherical), the motion of the robot
hand will be different.
 For instance, if a revolute joint is moved, the
hand will move on a circle defined by the joint
axis.