Open main menu
Home
Random
Recent changes
Special pages
Community portal
Preferences
About Wikipedia
Disclaimers
Incubator escapee wiki
Search
User menu
Talk
Dark mode
Contributions
Create account
Log in
Editing
Industrial robot
(section)
Warning:
You are not logged in. Your IP address will be publicly visible if you make any edits. If you
log in
or
create an account
, your edits will be attributed to your username, along with other benefits.
Anti-spam check. Do
not
fill this in!
===Controlling movement=== For a given robot the only parameters necessary to completely locate the end effector (gripper, welding torch, etc.) of the robot are the angles of each of the joints or displacements of the linear axes (or combinations of the two for robot formats such as SCARA). However, there are many different ways to define the points. The most common and most convenient way of defining a point is to specify a [[Cartesian coordinate system|Cartesian coordinate]] for it, i.e. the position of the 'end effector' in mm in the X, Y and Z directions relative to the robot's origin. In addition, depending on the types of joints a particular robot may have, the orientation of the end effector in yaw, pitch, and roll and the location of the tool point relative to the robot's faceplate must also be specified. For a [[Robotic arm|jointed arm]] these coordinates must be converted to joint angles by the robot controller and such conversions are known as Cartesian Transformations which may need to be performed iteratively or recursively for a multiple axis robot. The mathematics of the relationship between joint angles and actual spatial coordinates is called kinematics. See [[robot control]] Positioning by Cartesian coordinates may be done by entering the coordinates into the system or by using a teach pendant which moves the robot in X-Y-Z directions. It is much easier for a human operator to visualize motions up/down, left/right, etc. than to move each joint one at a time. When the desired position is reached it is then defined in some way particular to the robot software in use, e.g. P1 - P5 below.
Edit summary
(Briefly describe your changes)
By publishing changes, you agree to the
Terms of Use
, and you irrevocably agree to release your contribution under the
CC BY-SA 4.0 License
and the
GFDL
. You agree that a hyperlink or URL is sufficient attribution under the Creative Commons license.
Cancel
Editing help
(opens in new window)