Glossary · Robotics
Base coordinate system
Also known as: Robot base frame, Base frame
German: Basiskoordinatensystem
In robotics, the base coordinate system is the Cartesian coordinate system fixed to the robot's mounting surface, to which the robot controller refers the arm's positions. ISO 9787 defines it together with the world, mechanical interface and tool coordinate systems.
- Robotics
In one sentence
The base coordinate system is the Cartesian frame attached to the robot's mounting base, used by the controller as reference for arm positions.
Example
After the robot was moved to a new pedestal, the integrator measured the offset between the base coordinate system and the world coordinate system of the cell.
How it applies
- Engineering: Robot programs usually store positions relative to the base frame or to user frames derived from it. When several robots share a cell, each base frame is related to a common World coordinate system.
- Commissioning: Relocating or re-shimming a robot changes the relation between base frame and the cell. Positions taught in the base frame move with the robot, positions defined in world or user frames need a new base offset.
- Documentation: Drawings and manuals should show the origin and axis directions of the base frame on the robot foot. The documentation team should use the same frame names as the robot controller's user interface so that operators find them on the Teach pendant.
Base coordinate system vs. world coordinate system
The base frame belongs to one robot. The world frame belongs to the cell or plant and can be shared by several robots, a vision system and conveyors. On many robots the two coincide by default until an offset is configured.