How does the coordinate system of the six single axis axes of the industrial six axis robot define t

Each one corresponds to a separate element. But it should not be controlled separately, or jointly controlled, it should be a multi-coordinate system.

Dynamic transformation algorithm to implement.

Joint coordinates, only do uniaxial movement, that is, every time you press which joint it is moving, the other 5 joints are not moving.

Cartesian coordinates, when you move the robot, in order to ensure that the robot moves in the same straight line, it is all 6 joints that are linked.

The coordinate origin of the tool coordinate is in its tool terminal, so its coordinates are constantly changing with the terminal change.

Generally, when programming, joints and Cartesian coordinates are used more; The transition point from the starting point to the point you really need is usually in joint coordinates, and in other places it is possible to use Cartesian coordinates or tool coordinates. Of course, when programming, it depends on personal habits, and it is not said which coordinates must be used in which place.

A single moving place is an axis.

When the three-digit spatial position is represented, it is the coordinate system.

There are 4 reference coordinate systems for the movement of industrial robots.

1. Joint coordinate system. The robot acts separately along the axis of each pure slag axis, and the coordinate system used is called the joint coordinate system. The joint coordinate system is set after the robot is debugged and cannot be changed.

2. Geodetic coordinate system. Geodetic coordinates are also called Cartesian coordinates, and the corresponding Cartesian coordinate direction is different for each robot, and the corresponding Cartesian coordinate origin position is also different. After the relevant parameters of the robot are set, the zero point and direction of the Cartesian coordinates are determined, and the Cartesian coordinates cannot be modified without modifying the parameters.

3. Tool coordinate system. The tool coordinate system takes the effective direction of the tool held by the wrist flange of the robot as the z-axis, and defines the coordinates at the tip point of the tool. The coordinates of the No. 0 tool are the coordinates of the basic tool, which cannot be set or modified, and the coordinates are the same as the Cartesian coordinates.

The tool coordinates 1-49 can be set by the user according to the actual tool situation.

4. User coordinate system. The robot moves in parallel along the axes of the specified user coordinate system. In coordinate systems other than the joint coordinate system, you can only change the pose of the tool without changing the position of the tool tip point (control point), which is called the control point invariant action.

The No. 0 user coordinate system is the base user coordinate system, which cannot be set or modified, and the coordinate system is the same as the Cartesian coordinate system.

Classification

Starting from the application environment, Chinese roboticists also divide robots into two categories, namely industrial robots and special robots. This is consistent with the international classification. Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field.

In addition to industrial robots, special robots are a variety of advanced robots used in non-manufacturing industries and serving humans.

Including: service robots, underwater robots, entertainment machines, military robots, agricultural robots, etc. In special robots, some branches are developing rapidly and have a tendency to become independent systems, such as service robots, underwater robots, military robots, micro-operation robots, etc.

As an automation device, the six-axis robot can be widely used in production lines, medical equipment, electronic equipment and other fields.

First of all, the first axis of the six-axis robot is a rotating base, which can make the robot rotate left and right so that the robot can cover different positions on the surface of the workpiece.

Secondly, the second axis of the six-axis robot is the column axis, which can make the robot move up and down, so that the robot can operate at different heights.

Thirdly, the third axis of the six-axis robot is the rotating arm, which can make the robot rotate back and forth, so that the robot can complete operations in different directions.

Next, the fourth axis of the six-axis robot is the wrist 1 axis, which allows the robot to rotate up and down, so that the robot can complete more delicate operations.

Finally, the sixth axis of the six-axis robot is the wrist 3-axis, which allows the robot to rotate back and forth, so that the robot can complete more flexible operations.

Through the combined control of these 6 axes, the 6-axis robot can complete a variety of different operation tasks, and it is believed that it will play an increasingly important role in the future production field.

In industrial robots, the significance of the plane coordinate system.

The planar sit-on cherry blossom system is a common system used to describe the position and motion characteristics of objects in space. It defines a point in space as the origin, and then delineates the x and y axes in its two perpendicular planes, so that any point in three-dimensional space can be described by three values. In industrial robots, the significance of the plane coordinate system is to specify the basic coordinate system of the robot movement, which is an important reference system for the control of robot motion, which can be used to describe the coordinates of each joint and each position of the robot.