Glossary · Robotics
World coordinate system
Also known as: World frame, World coordinates
German: Weltkoordinatensystem
In robotics, the world coordinate system is a stationary Cartesian coordinate system that serves as common reference for the robot, other robots and cell equipment; ISO 9787 relates it to the base, mechanical interface and tool coordinate systems.
- Robotics
In one sentence
The world coordinate system is the stationary reference frame of a robot cell, shared by robots, cameras and equipment.
Example
Both robots and the camera are referenced to one world coordinate system, so a part found by the camera can be picked by either robot.
How it applies
- Engineering: A shared world frame simplifies multi-robot cells, vision integration and Offline programming. It also links the real cell with its Digital twin.
- Commissioning: The world frame is set up by measuring each robot's base relative to it. Errors show up as systematic position offsets.
- Documentation: The documentation team should show the world frame origin and axis directions in the layout drawing and use the same names as the controller interface. Frame changes are configuration changes and should be recorded.
World coordinate system vs. base coordinate system
The Base coordinate system is fixed to one robot's base; the world coordinate system is fixed to the cell. With a single robot and no offset they coincide.