NF ISO 9787

NF ISO 9787

June 2013
Standard Current

Robots and robotic devices - Coordinate systems and motion nomenclatures

ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming. ISO 9787:2013 applies to all robots and robotic devices as defined in ISO 8373.

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Main informations

Collections

National standards and national normative documents

Publication date

June 2013

Number of pages

20 p.

Reference

NF ISO 9787

ICS Codes

25.040.30   Industrial robots. Manipulators

Classification index

E61-101

Print number

1 - 12/06/2013

International kinship

ISO 9787:2013
Sumary
Robots and robotic devices - Coordinate systems and motion nomenclatures

ISO 9787:2013 defines and specifies robot coordinate systems. It also provides nomenclature, including notations, for the basic robot motions. It is intended to aid in robot alignment, testing, and programming.

ISO 9787:2013 applies to all robots and robotic devices as defined in ISO 8373.

Replaced standards (1)
NF EN ISO 9787
August 1999
Standard Cancelled
Manipulating industrial robots. Coordinate systems and motion nomenclatures.

La position et l'orientation dans l'espace de l'interface mécanique d'un robot sont définies par référence à des systèmes de coordonnées liés au robot lui-même ou à son environnement. Le présent document propose des conventions sur les systèmes de coordonnées à retenir.

Table of contents
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  • Avant-propos
    iv
  • Introduction
    v
  • 1 Domaine d'application
    1
  • 2 Références normatives
    1
  • 3 Termes et définitions
    1
  • 4 Règles générales pour les systèmes de coordonnées et nomenclatures de mouvement
    3
  • 4.1 Systèmes de coordonnées directs
    3
  • 4.2 Translations
    3
  • 4.3 Rotations
    3
  • 4.4 Nomenclature des axes du manipulateur
    4
  • 5 Systèmes de coordonnées
    4
  • 5.1 Système de coordonnées de l'atelier, O0-X0-Y0-Z0
    4
  • 5.2 Système de coordonnées de la base, O1-X1-Y1-Z1
    4
  • 5.3 Système de coordonnées de l'interface mécanique, Om-Xm-Ym-Zm
    5
  • 5.4 Système de coordonnées de l'outil (TCS), Ot-Xt-Yt-Zt
    6
  • 5.5 Système de coordonnées de plate-forme mobile, Op-Xp-Yp-Zp
    7
  • 5.6 Système de coordonnées d'une tâche, Ok-Xk-Yk-Zk
    7
  • 5.7 Système de coordonnées de l'objet, Oj-Xj-Yj-Zj
    8
  • 5.8 Système de coordonnées de la caméra, Oc-Xc-Yc-Zc
    8
  • Annexe A (informative) Exemples de systèmes de coordonnées pour différentes structures mécaniques
    9
  • Bibliographie
    12
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