Homework Answers
a) There are various coordinate system in industrial robot which follow any of the three coordinate system & widely used among it is Cartesian coordinate system. The coordinate system used in industrial robots are Robroot, World coordinate system, Tool Coordinate System, Flange coordinate system & Base coordinate system.
A Cartesian coordinate system is a coordinate system that specifies each point uniquely in a plane by a set of numerical coordinates, which are the signed distances to the point from two fixed perpendicular oriented lines, measured in the same unit of length.
b)
The following examples will illustrate :-
Example 1
MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1;
The robot is moved to a position that is 100 mm from p1 in the z direction of the tool.
Example 2
MoveL RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1;
The tool is rotated 25° around its z-axis.
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