1、 STD.BS1 BS EN IS0 9787-ENGL 1999 1624669 080101777 bTb BRITISH STANDARD Manipulating industrial robots - Coordinate systems and motion nomenclatures The European Standard EN IS0 97871999 has the status of a British Standard ICs 01.040.25: 25.040.30 BS EN IS0 9787:1999 NO COPYING WITHOUT BSI PERMISS
2、ION EXCEPT AS PERMITTED BY COPYRIGHT LAW COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesSTD.BS1 BS EN IS0 9787-ENGL 2999 Lb24bb 0808778 532 Amd. No. Date BS EN IS0 9787:1999 Comments This British Standard, having been prepared under the direction of the DISC
3、 Board, was published under the authority of the Standards Committee and comes into effect on 16 November 1999 O BSI 11-1999 ISBN O 680 32589 X National foreword This British Standard is the English language version of EN IS0 9787 1999. It is identical with IS0 97871999. It supersedes BS 72282:1991
4、which is withdrawn. The UK participation in its prepamtion was entrusted to Technical Committee AMT/-/I, AMT EXECUTIVE COMMlTIEE, which has the responsibility to: - aid enquirers to understand the text; - present to the responsible internationallEuropean committee any enquiries on the interpretation
5、, or proposals for change, and keep the UK interests informed; - monitor related international and European developments and promulgate them in the UK A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references Attention is dram to the fact tha
6、t CEN and CENELEC Sbdards normally include an annex which lists normative references to international publications with their corresponding European publications. The British Standards which implement international or European publicaions referred to in this document may be found in the BSI Standard
7、s Catalogue under the section entitled “International Standards Correspondence Index“, or by using the “Find“ facility of the BSI Standards Electronic Catalogue. A British Standard does not purport to include all the necescary provisions of a contract Users of British Standards are responsible for t
8、heir correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. Summary of pages This document comprises a front cover, an inside front cover, the EN IS0 title page, the EN IS0 foreword page, the IS0 title page, pages ii to iv, pages 1 to 9, th
9、e annex ZA page, an inside back cover and a back cover. The BSI copyright notice displayed in this document indicates when the document was last issued. COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN IS0 97B7-ENGL 1999 1b24bb9 0808779 479 EUROP
10、EAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN IS0 9787 May 1999 CS 25.040.00 Supersedes EN 29787:1992 English version Manipulating industrial robots - Coordinate systems and motion nomenclatures (IS0 9787:1999) Robots manipulateurs industriels - Systmes de coordonnes et nomenclatures de mouvements
11、 (IS0 9787: 1 999) Industrieroboter - Koordinatensysteme unJ Bewegungsnomenklaturen (IS0 9787:1999) This European Standard was approved by CEN on 16 March 1999. CEN members are bound to comply with the CEWCENELEC Internai Regulations which stipulate the conditions for giving this European Standard t
12、he status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the Central Secretariat or to any CEN member. This European Standard exists in three offiial versions (English, French, German
13、). A version in any other language made by translation under the responsibility of a CEN member into its own language and notified to lhe Central Secretariat has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finl
14、and, France, Germany, Greece, Iceland. Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. EUROPEAN COMMTTEE FOR STANDARDIZATION EUROPISCHES KOMITEE FOR NORMUNG COMITB EUROPEEN DE NORMALISATION Central Secretariat: rue de Stassart, 36 8-1050 Btus
15、sels 0 1999 CEN All rights of exploitation in any form and by any means resewed worldwide for CEN national Members. Ref. No. EN IS0 9787:1999 E COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesForeword The text of the International Standard IS0 9787:1999 has b
16、een prepared by Technical Committee ISOTTC 184 “Industrial automation systems and integration“ in collaboration with Technical Committee CENTTC 31 O “Advanced Manufacturing Technologies“, the secretariat of which is held by BSI. This European Standard supersedes EN 29787:1992. This European Standard
17、 shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by November 1999, and conflicting national standards shall be withdrawn at the latest by November 1999. According to the CENKENELEC Internal Regulations, the national standa
18、rds organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United Kingdom. Endorsement
19、notice The text of the International Standard IS0 9787:1999 was approved by CEN as a European Standard without any modification. NOTE: Normative references to Intemational Standards are listed in annex ZA (normative). COPYRIGHT European Committee for StandardizationLicensed by Information Handling S
20、ervices STD.ES1 ES EN IS0 9787-ENGL 1999 Lb24bb9 08037BL 027 EN IS0 9787:1999 INTERNATIONAL STANDARD IS0 9787 Second edition 1999-05-01 Manipulating industrial robots - Coordinate systems and motion nomenclatures Robots manipulateurs industriels - Systmes de coordonnes et nomenclatures de mouvements
21、 Reference number IS0 9787: 1999( E) COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesEN IS0 9787:1999 Contents 1 Scope 1 2 Normative references 1 3 Definitions 1 4 Defined coordinate systems and rotations . 1 5 World coordinate system 3 6 Base coordinate syst
22、em 3 7 Mechanical interface coordinate system . 5 8 Tool coordinate system CrCS) 5 9 Robot motions . 6 10 Robot axis nomenclature 6 Annex A (informative) Examples of application for different mechanical structures 7 COPYRIGHT European Committee for StandardizationLicensed by Information Handling Ser
23、vices _ STD.BSI BS EN IS0 9787-ENGL 1999 W 1624bbi 0808783 TT W EN IS0 9787:1999 Foreword IS0 (the International Organization for Standardization) is a worldwide federation of national standards bodies (IS0 member bodies). The work of preparing International Standards is normally carried out through
24、 IS0 technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. IS0 collaborate
25、s closely with the International Electrotechnical Commiscion (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISOAEC Directives, Part 3. Draft International Standards adopted by the technical committees are circul
26、ated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 Oh of the member bodies casting a vote. International Standard IS0 9787 was prepared by Technical Committee ISO/TC 184, Industrial aufornafion systems and infegrafion, Subcommittee SC 2, R
27、obots for manufacturing environment. This second edition cancels and replaces the first edition (IS0 9787:1990), of which it constitutes a technical revision. Annex A of this International Standard is for information only. iii COPYRIGHT European Committee for StandardizationLicensed by Information H
28、andling Services STD-BSI BS EN IS0 9387-ENGL 1999 1b24bb9 0808784 83b EN IS0 9787:1999 Introduction IS0 9787 is patt of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover such topics as safety, general characteristics, performance cri
29、teria and related test methods, terminology, and mechanical interfaces. It is noted that these standards are interrelated and are also related to other International Standards. Annex A (informative) of this International Standard provides examples of application for different mechanical structures.
30、iv COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN IS0 9787-ENGL 1999 1624669 0808785 772 EN IS0 9787:1999 Manipulating industrial robots - Coordinate systems and motion nomenclatures I Scope This International Standard defines and specifies rob
31、ot coordinate systems. It also provides a nomenclature including notation for the basic robot motions. It is intended to aid in robot alignment, testing, and programming. This International Standard applies to all manipulating industrial robots as defined in IS0 8373. In cases where there is no risk
32、 of confusion, nomenclatures or subscripts other than those specified in this International Standard may be used. 2 Normative references The following normative documents contain provisions which, through reference in this text, constitute provisions of this International Standard. For dated referen
33、ces, subsequent amendments to, or revisions of, any of these publications do not apply. However, parties to agreements based on this International Standard are encouraged to investigate the possibility of applying the most recent editions of the normative documents indicated below. For undated refer
34、ences, the latest edition of the normative document referred to applies. Members of IS0 and IEC maintain registers of currently valid International Standards. IS0 8373: 1994, Manipulating industrial robots - Vocabulary. IS0 9283: 1 998, Manipulating industrial robots - Performance criteria and relat
35、ed test methods. IS0 9946: 1 991 ), Manipulating industrial robots - Presentation of characteristics. IS0 14539:- *), Manipulating industrial robots - Object handling with grasp-type clippers - Vocabulary and presentation of characteristics. 3 Definitions For the purposes of this International Stand
36、ard, the definitions given in IS0 8373 apply. 4 Defined coordinate systems and rotations All coordinate systems described in this International Standard are defined by the orthogonal right-hand rule as shown in Figure 1, 1 ) Currently under revision. 2) To be published. 1 COPYRIGHT European Committe
37、e for StandardizationLicensed by Information Handling Services STD-BSI BS EN IS0 9787-ENGL 1999 1b24bb 08087b 609 EN IS0 9787:1999 +Y t Figure 1 - Right-hand coordinate system A, B and C define rotations about axes respectively parallel to X, Y and Z. Positive A, B and C are in the directions to adv
38、ance right-hand screws in the positive X, Y and Z directions respectively (see Figure 2). Z c Figure 2 - Rotations Four kinds of coordinate systems described are the world, base, mechanical interface, and tool. Figure 3 shows an example of the world, base, and mechanical interface coordinate systems
39、 described in this International Standard. Although this International Standard defines four coordinate systems, others may be defined. 2 COPYRIGHT European Committee for StandardizationLicensed by Information Handling Services STD-BSI BS EN IS0 7787-ENGL L799 lb24bb9 0808787 545 m EN IS0 9787:1999
40、Zl t I Figure 3 - Examples of coordinate systems 5 World coordinate system The world coordinate system is a stationary coordinate system referenced to earth which is independent of the robot mot ic-: . 5.1 Notation O, - x, - Y, - 2, 5.2 Origin, O, The origin of the world coordinate system, O, is to
41、be defined by the users according to their requirements. 5.3 +4,axis The +Zg axis is colinear but in the opposite direction to the acceleration of gravity vector. 5.4 +X, axis The +Xo axis is to be defined by the users according to their requirements. 6 Base coordinate system The base coordinate sys
42、tem is a coordinate system referenced to the robot base mounting surface. 3 COPYRIGHT European Committee for StandardizationLicensed by Information Handling Services STD.BS1 BS EN IS0 9783-ENGL Lqqq - Lb24bb9 0808786 48% = EN IS0 9787:1999 6.1 Notation o, - x, - Y, - z, 6.2 Origin, O, The origin of
43、the base coordinate syst 6.3 +Zl axis m, O, shall be defined b! the manufacturer of the robot. The +Z, axis is in the direction of the mechanical structure of the robot perpendicularly away from the base mounting surface. 6.4 +Xl axis The +X, axis points away from the origin and passes through the p
44、rojection of the centre of the working space, C, (see IS0 9946) onto the plane of the base mounting surface (see Figure 4). When the robot configuration precludes this convention, the direction of the +%, axis shall be defined by the manufacturer. NOTE Examples of the application of the base and mec
45、hanical interface coordinate systems are found in annex A. Figure 4 - Example of robot working space 4 COPYRIGHT European Committee for StandardizationLicensed by Information Handling Services - STDmBSI BS EN IS0 9787-ENGL 1999 Lb24bb9 08087ti 318 m EN IS0 9787:1999 7 Mechanical interface coordinate
46、 system The mechanical interface coordinate system is a coordinate system referenced to the mechanical interface. 7.1 Notation om-xm- vm-zm 7.2 Origin, O, The origin of the mechanical interface coordinate system, O, is the centre of the mechanical interface. 7.3 +Z, axis The +Z, axis points perpendi
47、cularly away from the mechanical interface. 7.4 +X, axis The +X, axis is defined by the intersection of the plane of the mechanical interface and the plane Xl Zl (or a plane parallel to Xl Zl), with the robot primary and secondary axes in their mid-positions. When the robot configuration precludes t
48、his convention, the position of the primary axes shall be defined by the manufacturer. The +A + or - y along or parallel to the Y1 axis; + or - z along or parallel to the Z1 axis. 9.2 Rotations Individual rotations about the axes parallel to the coordinate axes X, Y and Z are defined by A, B and C r
49、espectively, as defined in clause 4. General rotations are expressed by the combination of individual rotations. 10 Robot axis nomenclature If the axes are numerically designated, axis 1 shall be the first motion closest to the base mounting surface, axis 2 the second motion, and so on, and axis m the motion to which the mechanical interface is attached. NOTE Examples of robot axis nomenclature are found in annex A. 6 COPYRIGHT European Committee for StandardizationLicensed by Information Handling ServicesAnnex A (informative
