Introduction to the coordinate system of the hotte

2022-07-23
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Introduction to industrial robot coordinate system

tool coordinate system

? Robot tool coordinate system is composed of tool center point TCP and coordinate orientation

? TCP is required for robot linkage operation

1) focus on the industrial chain of upstream materials of power batteries for layout. The TCP position of the robot remains unchanged, and the robot tool rotates along the coordinate axis to change the attitude

2) the tool attitude of linear motion robot remains unchanged, and the robot TCP moves linearly along the coordinate axis with the new intelligent technology

? The robot program supports multiple TCP, which can be changed according to the current working state

? After the robot tool is replaced and the TCP is redefined, it can run directly without changing the program

1.1. The method of defining the tool coordinate system:

n (n =4) point method/tcp method - the robot TCP collides with a certain point through n different postures, and obtains multi group solutions. However, the high cost and processing difficulty limit its use in the large-scale production of passenger cars. Through calculation, the corresponding position between the current TCP and the robot wrist center point (tool0) is obtained, and the coordinate system direction is consistent with tool0

tcp z-based on the N-point method, the z-point and the fixed-point connecting line are the z-direction of the coordinate system

tcp x, Z method - based on the N-point method, the x-point and fixed-point connection is the x-direction of the coordinate system, and the z-point and fixed-point connection is the z-direction of the coordinate system

2. Workpiece coordinate system

? Robot workpiece coordinate system is composed of workpiece origin and coordinate orientation

? The robot program supports multiple wobjs, which can be changed according to the current working state

? After the external fixture is replaced and wobj is redefined, it can run directly without changing the program

? By redefining wobj, you can easily complete a program suitable for multiple robots

2.1. How to define the workpiece coordinate system:

? Three point method: the line connecting point X1 and point x2 forms the X axis, and the vertical line from point Y1 to the X axis is the Y axis

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