Whenever you see robots moving objects, precision welding, or efficient assembly, their "thinking" and actions cannot be separated from these coordinate systems.
The coordinate system helps robots find their position in space, control their actions, and ensure accurate task execution. So, how do robots achieve precise operations through these coordinate systems? Taking the BORUNTE robot as an example, let's explain several commonly used coordinates.
1. Base coordinate system: the starting point of everything
The base coordinate system is the "home" of the robot. It is composed of the base point and direction of the robot base, and serves as the foundation for all other coordinate systems. Just like the starting point you marked on the map, all positioning and movements are based on it. For example, when a handling robot picks up goods from a warehouse, the base coordinate system helps it determine where to start and where the target position is, avoiding losing direction.
2. DH coordinate system: enabling robotic arms to understand precise rotation
The DH coordinate system is a kinematic model used to describe the relative positions between robot joints. It establishes a coordinate system on each link and calculates the rotation relationship of each joint. Using this coordinate system, the robot can accurately control the motion of each joint, ensuring that each rotation is as expected.
For example, when industrial robots perform precision welding, the DH coordinate system helps the robotic arm maintain precise welding paths and angles, ensuring the perfect position of each welding point. Without it, the robotic arm may deviate and the welding quality will be greatly reduced.
3. Joint coordinate system: detailed control of each action
Each joint of a robot has a coordinate system, which is called a joint coordinate system. It records the rotation angle of joints to ensure the accuracy of each joint action. The accuracy of the joint coordinate system is crucial for the overall performance of the robot, determining whether it can successfully complete tasks.
In the assembly process of electronic products, the robot arm precisely controls the angle and motion of each joint through a joint coordinate system, thereby accurately placing small components in designated positions, avoiding component misalignment or damage.
4. World Coordinate System: Accurately positioning oneself in space
The world coordinate system is a global coordinate system that describes the position of a robot in the entire three-dimensional space. Unlike local references in the base coordinate system, the world coordinate system helps robots understand their position throughout the workspace, ensuring that they can navigate and locate correctly.
For example, robots use the world coordinate system to determine their spatial relationships with shelves and items. No matter where the robot is, it can accurately calculate where to grab items through the world coordinate system and move in the correct posture.
Workbench coordinate system: for dealing with uneven working surfaces
Sometimes, the surface of the workbench may not be flat, and robots need to adapt to this environment. The workbench coordinate system is designed to solve this problem. When the workbench is not parallel to the base coordinate system, the robot can adjust its motion trajectory based on the workbench coordinate system to ensure that the action is still accurate.
Imagine a robot performing assembly tasks on an uneven workbench. The workbench coordinate system will help it compensate for the impact of workbench tilt, allowing each operation to be completed according to the predetermined path and avoiding deviations.
5. Tool coordinate system: Ensure precise positioning of the end tool
The tool coordinate system is used to control the position and posture of robot end tools (such as welding guns, fixtures, etc.). Each tool has its own coordinate system during operation, which ensures precise tool movements, especially when performing complex tasks.
For example, in automobile manufacturing, the welding gun at the end of the robot precisely controls the angle and position of the welding gun through a tool coordinate system. In this way, whether it is welding the vehicle body or other complex tasks, the tool coordinate system ensures the accuracy and consistency of each operation.
From the base coordinate system to the tool coordinate system, every action of the robot is accurately executed with the help of different coordinate systems.
They enable robots to flexibly respond to various environments and complete precise tasks by defining their position, posture, and motion trajectory. Whether it's moving items, welding, or assembling, precise control of the coordinate system is the "smart brain" of robots, allowing them to maintain efficiency and accuracy in complex tasks.