Unit-1 Coordinate System Cartesian,Cylinder,Polar
If you can't read please download the document
-
Upload
brijesh-kumar -
Category
Documents
-
view
7 -
download
2
Transcript of Unit-1 Coordinate System Cartesian,Cylinder,Polar
No Slide Title
Cartesian Coordinate System
Called also rectangular coordinate system
Cartesian Coordinate System
X- Axis
Cartesian Coordinate System
Y- Axis
Cartesian Coordinate System
Z- Axis
Cartesian Coordinate System
Cartesian Coordinate
Let us distinguish between the world coordinates and the hand coordinates
Cartesian Coordinate
Advantages of Cartesian System
1. High resolution and great accuracy and repeatibility2. Good obstacle avoidance and collision prevention3. Ease of joint motion with respect to gravity loading4. Easier control5. Lift capacity
The simplest system to build
Disadvantages of Cartesian System
1. Large structural framework2. Confinement of work space3. Restriction on being compatible with other arms in a common workspace. Large floor space4. More complex mechanical design for linear sliding motions.
Cylindrical Coordinate System
Cylindrical Coordinate System
R- Axis
Cylindrical Coordinate System
Z - Axis
Cylindrical Coordinate System
theta - Axis
Cylindrical Coordinate System
Cylindrical Coordinate
Advantages of Cylindrical
1. Reduced effect of gravity loading2. Moderate collision free movements3. Two linear axes make the mechanical design less complex than Cartesian4. Good accuracy
Disadvantages of Cylindrical
1. Some restrictions on compatibility with other manipulators in a common work space2. Less accuracy and resolution compared with Cartesian
Polar (Spherical) Coordinate System
Polar (Spherical) Coordinate System
- Axis
Polar (Spherical) Coordinate System
gamma - Axis
Polar (Spherical) Coordinate System
R - Axis
Polar (Spherical) Coordinate System
Polar/Spherical Coordinate
Advantages of Spherical/Polar
1. Minimal structural complexities2. Short joint travel for many motions - good reach3. Compatible with other robot and machines in common work space4. Good resolution because errors in position are perpendicular
