ISO INTERNATIONAL STANDARD 9787 Third edition 2013-05-01 Robots and robotic devices Coordinate systems and motion nomenclatures Robots et composants robotiques-Systemes de coordonnees et nomenclaturesdemouvements Reference number IS09787:2013(E) LSO CopyrightintenationalOrganizationforStandadization IS02013 HS under ted without license from IHS Not for Resale IS0 9787:2013(E) COPYRIGHTPROTECTEDDOCUMENT @ ISO 2013 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or ISO's member body in the country of the requester. ISOcopyrightoffice Case postale 56.CH-1211 Geneva 20 Tel. +4122 749 0111 Fax +41 22 749 09 47 E-mail copyright@iso.org Web www.iso.org Published in Switzerland @ IS0 2013 - All rights reserved No reproduction or networking permited without license from IHS Not for Resale IS09787:2013(E) Contents Page Foreword ..iv Introduction. 1 Scope. ..1 2 Normativereferences 3 Terms and definitions 1 4 General rulesforcoordinatesystemsandmotionnomenclature .3 4.1 Right-hand coordinate systems .3 4.2 Translations .3 4.3 Rotations. .3 4.4 Nomenclatureformanipulatoraxes .4 5 Coordinatesystems. ..4 5.1 World coordinate system, Oo-Xo-Yo-Zo .4 5.2 Base coordinate system, O1-X1-Y1-Z1 .4 5.3 Mechanical interfacecoordinate system,Om-Xm-Ym-Zm .5 5.4 Tool coordinatesystem (TCS),Ot-Xt-Yt-Zt 5.5 Mobile platform coordinate system, Op - Xp - Yp - Zp 7 5.6 Task coordinatesystem,Ok-Xk-Yk-Zk 5.7 Object coordinate system,O;-X;-Yj-Zj 5.8 Camera coordinate system, Oc-Xc-Yc-Z 8 Annex A (informative) Examples of coordinate systemsfor different mechanical structures .9 Bibliography .12 ili orStan ut license from IHS Not for Resale