Toshiba STE 58762 instruction manual － 2-9 －

STE 58762

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.

Z
Z’
	Y’
Y	X’
O’
z
y
x	X
O

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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