Coordinates: position indicator system to determine the position and posture of the robot carried out on the robot or space.
The coordinate system contains:
1. Base Coordinate System
2, the Earth Coordinate System (World Coordinate System)
3. Tool Coordinate System
4, the workpiece coordinate system (Work Object Coordinate System)
1, the tool coordinate system
The robot tool coordinate system consists of the tool center point TCP and coordinate orientation.
• TCP is required when the robot is linked.
1) Reorient Relocation motion (attitude motion) The robot's TCP position is unchanged, and the robot tool rotates along the coordinate axis to change the attitude.
2) The linear linear motion robot tool has the same attitude, and the robot TCP moves along the coordinate axis.
The robot program supports multiple TCPs and can be transformed according to the current working state.
• The robot tool is replaced. After redefining TCP, you can run it without changing the program.
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