1. Fundamentals

• 1.1. Frame and Transformation
  • 1.1.1. Further information
• 1.2. Coordinate frames
  • 1.2.1. World coordinate frame (WCF)
  • 1.2.2. Robot coordinate frame (RCF)
  • 1.2.3. Tool0 coordinate frame (T0CF)
  • 1.2.4. Tool coordinate frame (TCF)
  • 1.2.5. Object coordinate frame (OCF)
  • 1.2.6. Example
  • 1.2.7. Links