The coordinate system is an azimuth target system set up in the robot or other space to determine the orientation and attitude of the robot. So, what are the commonly used coordinate systems for industrial robots? What are the advantages and disadvantages of each industrial robot coordinate system?
1. Cartesian coordinate type
Advantages: This kind of operator has a simple structure, strong intuitive movement, and is convenient for high-precision finishing.
Defects: It occupies a large space and has a small working range.
2. Cylindrical coordinate type
Advantages: Compared with the Cartesian coordinate operator, the cylindrical coordinate operator not only adheres to the advantages of strong intuitive movement, but also has the characteristics of small space, compact structure and large working range.
Defects: Restricted by the lifting mechanism, the workpiece on the ground or in a lower direction can not be raised.
3. Spherical coordinate type
Advantages: Compared with the cylindrical coordinate operator, this kind of operator occupies the same space, its working range is extended, because it has the degree of freedom of pitching, so it can also extend the arm to the ground, and complete the mission of extracting the workpiece from the ground.
Defects: The movement is intuitive, the structure is complex, and the azimuth error at the end of the arm will expand with the elongation of the arm.
4. Joint type
Strengths: The articulated manipulator has some of the characteristics of a human arm, it occupies the smallest space and has the largest working range compared to other types of manipulators, in addition to being able to pick up and transport the workpiece around obstacles. Therefore, it has received widespread attention in recent years.
Defects: Poor movement intuitiveness and complex drive control.
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