BS EN ISO 9787:1999
Superseded
A superseded Standard is one, which is fully replaced by another Standard, which is a new edition of the same Standard.
A superseded Standard is one, which is fully replaced by another Standard, which is a new edition of the same Standard.
Manipulating industrial robots. Coordinate systems and motion nomenclatures
Hardcopy , PDF
05-31-2015
English
11-15-1999
1 Scope
2 Normative references
3 Definitions
4 Defined coordinate systems and rotations
5 World coordinate system
6 Base coordinate system
7 Mechanical interface coordinate system
8 Tool coordinate system (TCS)
9 Robot motions
10 Robot axis nomenclature
Annex A (informative) Examples of application for
different mechanical structures
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