Basic Operations; Robot Posture Control By Euler Angles; Outline - YASKAWA DX100 Instructions Manual

DX100
2

Basic Operations

2.1

2.1.1 Outline

+Z (tool coordinate system)
T
+X (base coordinate system)
A
2 Basic Operations
2.1

Robot Posture Control by Euler Angles

Robot Posture Control by Euler Angles
Different from the robot control of the ordinary coordinate systems, Euler
angles control the robots optimum posture for welding. See fig. 2-1 for the
robot posture using Euler angles.
The Euler angles in the base coordinate system are as follows:
A) The angle between the X-axis and the Z-axis of the tool
coordinate system projected on the X-Y plane of the base
coordinate system (-180° < A ≤ 180°)
B) The angle between the Z-axis of the tool coordinate system
and the X-Y plane of the base coordinate system
(-90° < B ≤ 90°)
C) The angle to move X and W-axis of the tool coordinate
system on X' and Y'-axis where X', Y' and Z' are the axes in
such coordinate system as Z-axis of the base coordinate
system is moved on Z-axis of the tool coordinate system by
rotating the base coordinate system around Z-axis and then
around Y-axis (-180° < C ≤ 180°)
Fig. 2-1: Euler Angles
+Z (base coordinate system)
g
+Y (tool coordinate system)
T
B
+Y (base coordinate system)
+X (tool coordinate system)
T
2-1
+Z (tool coordinate system)
T
+Z (base coordinate system
C
+X (tool coordinate system)
+X (base coordinate system)
T
HW0485806
156446-1CD
+Y (tool coordinate system)
T
)
+Y (base coordinate system)