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GB/T 16977-2019 English PDF (GBT16977-2019)

GB/T 16977-2019 English PDF (GBT16977-2019)

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GB/T 16977-2019: Robots and robotic devices -- Coordinate systems and motion nomenclatures

GB/T 16977-2019
Robots and robotic devices--Coordinate systems and motion nomenclatures ICS 25.040.30
J07
National Standards of People's Republic of China
Replace GB/T 16977-2005
Robot and robot equipment
Coordinate system and motion naming principles
(ISO 9787.2013, IDT)
Published on.2019-05-10
2019-12-01 implementation
State market supervision and administration
China National Standardization Administration issued
Content
Foreword I
Introduction II
1 range 1
2 Normative references 1
3 Terms and Definitions 1
4 coordinate system and motion naming principle 2
4.1 Right hand coordinate system 2
4.2 Mobile 3
4.3 Turn 3
4.4 Operational axis naming principle 4
5 coordinate system 4
5.1 Absolute coordinate system O0-X0-Y0-Z0 4
5.2 Base coordinate system O1-X1-Y1-Z1 4
5.3 Mechanical interface coordinate system Om-Xm-Ym-Zm 4
5.4 Tool Coordinate System (TCS) Ot-Xt-Yt-Zt 5
5.5 Mobile platform coordinate system Op-Xp-Yp-Zp 6
5.6 Job coordinate system Ok-Xk-Yk-Zk 6
5.7 Object coordinate system Oj-Xj-Yj-Zj 7
5.8 Camera coordinate system Oc-Xc-Yc-Zc 7
Appendix A (informative appendix) Application examples of various mechanical structure type robots 8 Reference 11
Foreword
This standard was drafted in accordance with the rules given in GB/T 1.1-2009. This standard replaces GB/T 16977-2005 "Industrial Robot Coordinate System and Motion Nomenclature", and GB/T 16977-2005 The main technical changes are as follows.
--- The scope of application of standards extends from industrial robots to robots; --- Chapter 3 lists the terms and definitions involved;
--- Added mobile platform coordinate system, job coordinate system, object coordinate system and camera coordinate system related to service robot. This standard uses the translation method equivalent to ISO 9787.2013 "Robot and Robot Equipment Coordinate System and Motion Naming Principles". This standard was proposed by the China Machinery Industry Federation.
This standard is under the jurisdiction of the National Automation System and Integration Standardization Technical Committee (SAC/TC159). This standard was drafted. Beijing Machinery Industry Automation Research Institute, Lihong Safety Equipment Engineering (Shanghai) Co., Ltd., Zibo (Jiangsu) Machine Instrument Co., Ltd., Na Enbo (Tianjin) Technology Co., Ltd., Cobos Robot Co., Ltd., Shanghai Jiaotong University, Chongqing Luban Machine Human Technology Research Institute Co., Ltd.
The main drafters of this standard. Yang Shuyan, Yang Qiuying, Li Liyan, Li Wei, Wang Ye, Du Chao, Luo Xuegang, Yan Weixin, He Guotian, Zhou Wei, Liu Ying, Wang Song.
The previous versions of the standards replaced by this standard are.
---GB/T 16977-2005.
introduction
This standard is one of the series of national standards for robots and robotic equipment. The related standards are. vocabulary, safety, general characteristics, and sex. Can be standardized and its test methods and mechanical interfaces. These standards are interrelated and related to other standards. Appendix A of this standard provides examples of applications for robots of various mechanical construction types. Robot and robot equipment
Coordinate system and motion naming principles
1 Scope
This standard defines and standardizes the robot coordinate system, and also gives the naming principle of the symbolic representation of the basic motion of the robot, so as to facilitate The robot is calibrated, tested and programmed.
This standard applies to all robots and robotic equipment defined in GB/T 12643-2013. 2 Normative references
The following documents are indispensable for the application of this document. For dated references, only dated versions apply to this article. Pieces. For undated references, the latest edition (including all amendments) applies to this document. GB/T 12643-2013 Vocabulary for Robotics and Robotics (ISO 8373.2012, IDT) 3 Terms and definitions
The following terms and definitions as defined in GB/T 12643-2013 apply to this document. For ease of use, the following is repeated Certain terms and definitions in GB/T 12643-2013.
3.1
Configuration configuration
A set of displacement values for all joints of the robot shape can be completely determined at any time. [GB/T 12643-2013, definition 3.5]
3.2
Base mounting surface
The connecting surface between the robot and its support.
[GB/T 12643-2013, definition 3.9]
3.3
Mobile platform mobileplatform
An assembly of all components that enable the mobile robot to achieve full motion. Note. Rewrite GB/T 12643-2013, definition 3.18.
3.4
Absolute coordinate system worldcoordinatesystem
Regardless of the robot motion, refer to the invariant coordinate system of the earth. [GB/T 12643-2013, definition 4.7.1]
3.5
Base coordinate system basecoordinatesystem
Refer to the coordinate system of the mounting surface of the base.
[GB/T 12643-2013, definition 4.7.2]
3.6
Mechanical interface coordinate system mechanical interfacecoordinatesystem Refer to the coordinate system of the mechanical interface.
[GB/T 12643-2013, definition 4.7.3]
3.7
Tool coordinate system toolcoordinatesystem
TCS
Refer to the coordinate system of the tool or end effector mounted on the mechanical interface. [GB/T 12643-2013, definition 4.7.5]
3.8
Workspace workingspace
The space that can be swept by the reference point of the wrist is the area where the joints of the wrists are translated or rotated to be attached to the reference point of the wrist. [GB/T 12643-2013, definition 4.8.4]
3.9
Tool center point toolcentrepoint
TCP
Refer to the point where the mechanical interface coordinate system is set for a certain purpose. [GB/T 12643-2013, definition 4.9]
3.10
Mobile platform origin mobileplatformorigin
Mobile platform reference point mobileplatformreferencepoint
The origin of the mobile platform coordinate system.
[GB/T 12643-2013, definition 4.11]
3.11
Job coordinate system taskcoordinatesystem
Refer to the coordinate system of the job site and denote it as Ok-Xk-Yk-Zk. [GB/T 19400-2003, definition 3.3.5]
3.12
Object coordinate system objectcoordinatesystem
The coordinate system with the object as the reference, and is represented as Oj-Xj-Yj-Zj. [GB/T 19400-2003, definition 3.3.6]
3.13
Camera coordinate system cameracoordinatesystem
The coordinate system referenced to the sensor at the job site is denoted as Oc-Xc-Yc-Zc. Note. A vision system can be installed to determine the position and attitude of randomly placed objects. [GB/T 19400-2003, definition 3.3.7]
3.14
Grip gripper grabp-typegripper
The holder of the object is carried by the finger(s).
[GB/T 19400-2003, definition 4.1.2.1]
4 coordinate system and motion naming principles
4.1 Right hand coordinate system
All coordinate systems described in this standard are determined by orthogonal right-hand rules, see Figure 1. Figure 1 Right hand coordinate system
4.2 Mobile
The movement along the X, Y, and Z axes is expressed as follows.
Or -X along the X axis;
Or -Y along the Y axis;
Or -Z along the Z axis.
4.3 Turning
The representation of the rotation around the X, Y, and Z axes is as follows. Or -A around the X axis;
Or -B around the Y axis;
Or -C around the Z axis;
A, B, and C are also referred to as the slewing angle, the pitch angle, and the yaw angle, respectively. The positive directions of A, B, and C are positive in the direction in which the right-handed spiral advances in the positive direction of X, Y, and Z, respectively (see Figure 2). The general rotation is expressed by a combination of independent rotations. Description.
A --- swivel angle;
B --- pitch angle;
C --- deflection angle.
Figure 2 Rotating
4.4 The principle of naming the operating shaft
If the axis is defined by a number, the first axis of motion next to the mounting surface of the base should be axis 1, and the second axis of motion should be axis 2, in turn Push, and the axis m is the axis of motion that is coupled to the mechanical interface. Note. See Appendix A for an example.
5 coordinate system
5.1 Absolute coordinate system O0-X0-Y0-Z0
The origin O0 of the absolute coordinate system should be determined by the user as needed. The Z0 axis is collinear with the gravity acceleration vector, but its direction anti. The direction of the X0 axis should be determined by the user as needed (see Figure 3). 5.2 Base coordinate system O1-X1-Y1-Z1
The origin O1 of the base coordinate system shall be specified by the robot manufacturer. The positive direction of the Z1 axis, perpendicular to the mounting surface of the robot base, refers to Direction to its mechanical structure. The direction of the X1 axis is from the origin to the projection of the center point of the robot workspace on the mounting surface of the base Cw (See Figures 3 and 4). When this convention cannot be achieved due to the construction of the robot, the direction of the X1 axis should be specified by the manufacturer. Note. Appendix A lists the application examples of the frame coordinate system and the mechanical interface coordinate system. Figure 3 Example of a coordinate system
5.3 Mechanical interface coordinate system Om-Xm-Ym-Zm
The origin of the mechanical interface coordinate system, Om, is the center of the mechanical interface. The direction of the Zm axis is perpendicular to the center of the mechanical interface. Xm axis Is defined by the intersection of the mechanical interface plane and the Y1Z1 plane (or plane parallel to X1Y1), and the Xm axis is parallel to Z1 (X1), while the main and auxiliary joint axes of the robot are in the middle of the range of motion. When the construction of the robot cannot achieve this convention, it should The position of the main joint axis is specified by the manufacturer (see Figure 3). Note. An application example of the frame coordinate system and the mechanical interface coordinate system is given in Appendix A. Figure 4 Example of a robot workspace
5.4 Tool Coordinate System (TCS) Ot-Xt-Yt-Zt
The origin Ot of the tool coordinate system is the tool center point (TCP) (see Figure 5). The Zt axis is tool-dependent and is usually the tool's finger. to. When the flat jaw gripper is clamped, the Yt axis is in the direction of the plane of movement of the finger. Figure 5 Example of the tool coordinate system
5.5 Mobile platform coordinate system Op-Xp-Yp-Zp
The origin Op of the mobile platform coordinate system is the origin of the mobile platform. The Xp axis usually refers to the direction in which the mobile platform is moving forward. The Zp axis usually refers to the upward direction of the moving platform (see Figure 6). Figure 6 Mobile platform coordinate system example
5.6 Job coordinate system Ok-Xk-Yk-Zk
A description of the job coordinate system is shown in Figure 7.
Description.
1---absolute coordinate system;
2---frame coordinate system;
3---mechanical interface coordinate system;
4---tool coordinate system;
5---job coordinate system;
6---object coordinate system;
7---camera coordinate system;
8---TCP;
9---gripper.
Figure 7 Coordinate system when the object is transported
5.7 object coordinate system Oj-Xj-Yj-Zj
The description of the object coordinate system is shown in Figure 7.
5.8 Camera coordinate system Oc-Xc-Yc-Zc
A description of the camera coordinate system is shown in Figure 7.
Appendix A
(informative appendix)
Application examples of various mechanical structure type robots
Examples of applications for various types of mechanical structure robots are shown in Figure A.1 to Figure A.5. Figure A.1 Cartesian robot
Figure A.2 Cylindrical coordinate robot
Figure A.3 Polar Coordinate Robot
Figure A.4 Joint coordinate robot
Figure A.5 SCARA Robot
references
[1] GB/T 19400-2003 Industrial robot grip type gripper object handling vocabulary and characteristic representation [2] ISO 9283.1998 Manipulatingindustrialrobots-Performancecriteriaandrelatedtestmethods [3] ISO 9946.1999 Manipulatingindustrialrobots-Presentationofcharacteristics

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