Universal Robots UR5 with CB2 User Manual page 49

3.3. Robot Control
"frames" (coordinate systems) that relate the internal coordinate system of the
robot (the base coordinate system) to the relevant object's coordinate system.
Reference can both be made to "tool coordinates" and to "base coordinates"
of the robot.
A problem with such frames is that a certain level of mathematical knowl-
edge is required to be able to define such coordinate systems and also that it
takes a considerable ammount of time to do this, even for a person skilled in
the art of robot programming and installation. Often this task involves the cal-
culation of 4x4 matrices. Particularly, the representation of orientation is compli-
cated for a person that lacks the required experience to understand this prob-
lem.
Questions often asked by customers are for instance:
Will it be possible to move the robot 4 cm away from the claw of my com-
puterised numerically controlled (CNC) machine?
Is it possible to rotate the tool of the robot 45 degrees relative to the table?
Can we make the robot move vertically downwards with the object, let
the object loose, and then move the robot vertically upward again?
The meaning of such and similar questions is very straight forward to an av-
erage customer that intends to use a robot for instance at various stations in
a production plant, and it may seem annoying and incomprehensible to the
customer to be told that there may not be a simple answer to such - relevant -
questions. There are several complicated reasons for this being the case, and in
order to address these problems, Universal Robots has developed unique and
simple ways for a customer to specify the location of various obejcts relative to
the robot. Within a few steps, it is therefore possible to do exactly what was
asked for in the above questions.
Rename
This button makes it possible to rename a feature.
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49 UR5