Overview

This section describes the coordinate systems for different types of robots supported in SPEL+.

Right-handed rule is used for all coordinate systems. The following coordinate systems are used in SPEL+:

• Robot Coordinate System: This is the native coordinate system of the robot. This is also known as the default base coordinate system or world coordinate system.
• Local Coordinate System: This is a user defined coordinate system located somewhere within the working envelop. (Local)
• Tool Coordinate System: This is the coordinate system of the tool mounted on the robot end-effector. This is also known as the end effector coordinate system.

Figure: Transform order of the position/orientation from origin to tool.