Commonly used coordinate systems for industrial robots include:
1. Rectangular coordinate type
Advantages: This type of manipulator has a simple structure, intuitive movement, and is easy to achieve high precision.
Disadvantages: It occupies a large space, resulting in a smaller working area.
2. Cylindrical coordinate type
Advantages: Compared with rectangular coordinate manipulators, cylindrical coordinate manipulators not only maintain the advantage of strong intuitiveness of motion, but also occupy less space, have a compact structure, and a large working range.
Disadvantages: Due to the limitations of the lifting mechanism, it generally cannot lift workpieces on the ground or at lower positions.
3. Spherical coordinates
Advantages: Compared with cylindrical coordinate manipulators, this manipulator has a larger working range while occupying the same space. Because it has pitch freedom, it can also extend its arm to the ground to complete the task of picking up workpieces from the ground.
Disadvantages: Poor intuitiveness of movement, relatively complex structure, and the positional error of the arm end will be amplified as the arm extends.
4. Joint type
Advantages: Articulated manipulators possess certain characteristics of the human arm. Compared to other types of manipulators, they occupy the least space, have the largest working range, and can also retrieve and transport workpieces around obstacles. Therefore, they have received widespread attention in recent years.
Disadvantages: The motion is less intuitive and the drive control is more complex.
