If you give someone a map that told them the location of something in degrees, they would have no idea what you were talking about. This would be expressed in a JOINT reference system as (78, 93.75, 12). For example, for you to reach that quarter your brain will tell your elbow to extend to 78°, your shoulder to 93.75° and your wrist to turn to 12°. Your arm is a series of joints that must work together to reach positions, even if we fully understand and measure that position with a ruler. However, the human body (specifically your brain) does not operate in a WORLD frame. We are referencing it's position relative to a point we've chosen in the real world.

This means we can express the location we'd need to reach to pick it up in X,Y,Z format as (10, 14.5, 1.75). It is 10mm from the front edge of the table, 14.5mm from the left edge of the table, and is 1.75mm high. The robot is a series of joints, so it can reference positions related to the angle of each joint, and the distance between each of the joints, using trigonometry. We live in a 3 dimensional universe, meaning a position in space can be referenced by 3 values, each a measurement from an origin point. The robot doesn't know anything about the real world or what is in it, as it's driven by a processor that can only work with numbers. Joint Coordinate System - Each joint has a value based on degrees from a designated zero position.Coordinate systems are the methods we use to measure positions and orientations of physical objects.

Rad tool frames compress