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STE 58762
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2-9
What we did above was take an original coordinate system (centered about 0), applied a coordinate
vector (x, y, z, c) to it, and came up with a new coordinate system (centered about 0'). In short,
coordinate vectors allow us to convert between different coordinate systems.
Fig. 2.1 Coordinate transformation
(3) Load data
Load data is used to define the physical loads acting on the end effector (hand) of the robot. Load
vectors have the following format.
{<Mass>, <Center of gravity offset>}
<Mass> is the mass of the load acting on the tip of the robot hand. Units are in kg.
<Center of gravity offset> is the amount representing the distance between the center of gravity
applied to the tip of the robot hand and the center of the tool flange of the robot (unit: mm).
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