2012-1800. cartesian coordinate system
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Cartesian
Coordinate System
Called also
rectangular
coordinate
system
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Cartesian
Coordinate System
X- Axis
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Cartesian
Coordinate System
Y- Axis
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Cartesian
Coordinate System
Z- Axis
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Cartesian
Coordinate System
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Cartesian Coordinate
Let us distinguish between
the world coordinatesandthe hand coordinates
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Cartesian Coordinate
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Advantages of Cartesian System
1. High resolution and great accuracy and repeatibility
2. Good obstacle avoidance and collision prevention
3. Ease of joint motion with respect to gravity loading
4. Easier control
5. Lift capacity
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Disadvantages of Cartesian System
1. Large structural framework
2. Confinement of work space
3. Restriction on being compatible with other arms in a
common workspace. Large floor space
4. More complex mechanical design for linear sliding
motions.