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1、BRITISH STANDARD BS EN ISO 9787:1999 Manipulating industrial robots Coordinate systems and motion nomenclatures The European Standard EN ISO 9787:1999 has the status of a British Standard ICS 01.040.25; 25.040.30 Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontr
2、olled Copy, (c) BSI BS EN ISO 9787:1999 This British Standard, having been prepared under the direction of the DISC Board, was published under the authority of the Standards Committee and comes into effect on 15 November 1999 BSI 03-2000 ISBN 0 580 32589 X National foreword This British Standard is
3、the English language version of EN ISO 9787:1999. It is identical with ISO 9787:1999. It supersedes BS 7228-2:1991 which is withdrawn. The UK participation in its preparation was entrusted to Technical Committee AMT/-/1, AMT EXECUTIVE COMMITTEE, which has the responsibility to: aid enquirers to unde
4、rstand the text; present to the responsible international/European committee any enquiries on the interpretation, 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
5、 this committee can be obtained on request to its secretary. Cross-references Attention is drawn to the fact that CEN and CENELEC Standards normally include an annex which lists normative references to international publications with their corresponding European publications. The British Standards w
6、hich implement international or European publications referred to in this document may be found in the BSI Standards 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
7、 not purport to include all the necessary provisions of a contract. Users of British Standards are responsible for their 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 insid
8、e front cover, pages i and ii, the EN ISO title page, page 2, the ISO title page, pages ii to iv, pages 1 to 8, an inside back cover and a back cover. This standard has been updated (see copyright date) and may have had amendments incorporated. This will be indicated in the amendment table on the in
9、side front cover. Amendments issued since publication Amd. No.DateComments Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI BS EN ISO 9787:1999 BSI 03-2000i Contents Page National forewordInside front cover Foreword2 Forewordiii Text of ISO 9
10、7871 Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI ii blank Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN ISO 9787 May 1999 I
11、CS 25.040.00Supersedes EN 29787:1992 English version Manipulating industrial robots Coordinate systems and motion nomenclatures (ISO 9787:1999) Robots manipulateurs industriels Systmes de coordonnes et nomenclatures de mouvements (ISO 9787:1999) Industrieroboter Koordinatensysteme und Bewegungsnomen
12、klaturen (ISO 9787:1999) This European Standard was approved by CEN on 16 March 1999. CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists
13、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 official versions (English, French, German). A version in any other language made by translation under the responsi
14、bility of a CEN member into its own language and notified to the Central Secretariat has the same status as the official versions. CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Nether
15、lands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. CEN European Committee for Standardization Comit Europen de Normalisation Europisches Komitee fr Normung Central Secretariat: rue de Stassart 36, B-1050 Brussels 1999 CEN All rights of exploitation in any form and by any means r
16、eserved worldwide for CEN national Members. Ref. No. EN ISO 9787:1999 E Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 BSI 03-2000 2 Foreword The text of the International Standard ISO 9787:1999 has been prepared by Technic
17、al Committee ISO/TC 184 “Industrial automation systems and integration” in collaboration with Technical Committee CEN/TC 310 “Advanced Manufacturing Technologies”, the secretariat of which is held by BSI. This European Standard supersedes EN 29787:1992. This European Standard shall be given the stat
18、us 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 CEN/CENELEC Internal Regulations, the national standards organizations of th
19、e 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 notice The text of the
20、International Standard ISO 9787:1999 was approved by CEN as a European Standard without any modification. NOTENormative references to International Standards are listed in Annex ZA (normative). Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI
21、 Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 ii BSI 03-2000 Contents Page Forewordiii Introduction1 1Scope1 2Normative references1 3Definitions1 4Defined coordinate systems and rotations1 5World coordinate system2 6Base
22、coordinate system2 7Mechanical interface coordinate system3 8Tool coordinate system (TCS)3 9Robot motions4 10Robot axis nomenclature4 Annex A (informative) Examples of application for different mechanical structures5 Annex ZA (normative) Normative references to international publications with their
23、relevant European publicationsInside back cover Figure 1 Right-hand coordinate system1 Figure 2 Rotations1 Figure 3 Examples of coordinate systems2 Figure 4 Example of robot working space3 Figure 5 Example of tool coordinate system4 Figure A.1 Rectangular robot5 Figure A.2 Cylindrical robot6 Figure
24、A.3 Polar robot6 Figure A.4 Articulated robot7 Figure A.5 SCARA robot8 Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 BSI 03-2000iii Foreword ISO (the International Organization for Standardization) is a worldwide federatio
25、n of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO 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.
26、 International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization. International Standards are drafted in accordance wi
27、th the rules given in the ISO/IEC Directives, Part 3. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. International Stand
28、ard ISO 9787 was prepared by Technical Committee ISO/TC 184, Industrial automation systems and integration, Subcommittee SC 2, Robots for manufacturing environment. This second edition cancels and replaces the first edition (ISO 9787:1990), of which it constitutes a technical revision. Annex A of th
29、is International Standard is for information only. Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI iv blank Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 BSI 03-20
30、001 Introduction ISO 9787 is part of a series of International Standards dealing with manipulating industrial robots. Other International Standards cover such topics as safety, general characteristics, performance criteria and related test methods, terminology, and mechanical interfaces. It is noted
31、 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. 1 Scope This International Standard defines and specifies robot coordinate systems.
32、 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 ISO 8373. In cases where there is no risk of confusion, nomencl
33、atures 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 references, subsequent amendm
34、ents 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 references, the latest edit
35、ion of the normative document referred to applies. Members of ISO and IEC maintain registers of currently valid International Standards. ISO 8373:1994, Manipulating industrial robots Vocabulary. ISO 9283:1998, Manipulating industrial robots Performance criteria and related test methods. ISO 9946:199
36、1, Manipulating industrial robots Presentation of characteristics1). ISO 14539:, Manipulating industrial robots Object handling with grasp-type clippers Vocabulary and presentation of characteristics2). 3 Definitions For the purposes of this International Standard, the definitions given in ISO 8373
37、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. A, B and C define rotations about axes respectively parallel to X, Y and Z. Positive A, B and C are in the directions
38、to advance right-hand screws in the positive X, Y and Z directions respectively (see Figure 2). 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 described in this
39、International Standard. Although this International Standard defines four coordinate systems, others may be defined. 1) Currently under revision. 2) To be published. Figure 1 Right-hand coordinate system Figure 2 Rotations Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 200
40、6, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 2 BSI 03-2000 5 World coordinate system The world coordinate system is a stationary coordinate system referenced to earth which is independent of the robot motion. 5.1 Notation O0 X0 Y0 Z0 5.2 Origin, O0 The origin of the world coordinate system, O0, is
41、 to be defined by the users according to their requirements. 5.3 + Z0 axis The + Z0 axis is colinear but in the opposite direction to the acceleration of gravity vector. 5.4 + X0 axis The + X0 axis is to be defined by the users according to their requirements. 6 Base coordinate system The base coord
42、inate system is a coordinate system referenced to the robot base mounting surface. 6.1 Notation O1 X1 Y1 Z1 6.2 Origin, O1 The origin of the base coordinate system, O1, shall be defined by the manufacturer of the robot. 6.3 + Z1 axis The + Z1 axis is in the direction of the mechanical structure of t
43、he robot perpendicularly away from the base mounting surface. 6.4 + X1 axis The + X1 axis points away from the origin and passes through the projection of the centre of the working space, Cw, (see ISO 9946) onto the plane of the base mounting surface (see Figure 4). When the robot configuration prec
44、ludes this convention, the direction of the + X1 axis shall be defined by the manufacturer. NOTEExamples of the application of the base and mechanical interface coordinate systems are found in Annex A. Figure 3 Examples of coordinate systems Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:
45、39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 BSI 03-20003 7 Mechanical interface coordinate system The mechanical interface coordinate system is a coordinate system referenced to the mechanical interface. 7.1 Notation Om Xm Ym Zm 7.2 Origin, Om The origin of the mechanical inter
46、face coordinate system, Om, is the centre of the mechanical interface. 7.3 + Zm axis The + Zm axis points perpendicularly away from the mechanical interface. 7.4 + Xm axis The + Xm axis is defined by the intersection of the plane of the mechanical interface and the plane X1 Z1 (or a plane parallel t
47、o X1 Z1), with the robot primary and secondary axes in their mid-positions. When the robot configuration precludes this convention, the position of the primary axes shall be defined by the manufacturer. The + Xm axis points away from the Z1 axis. NOTEExamples of the application of the base and mecha
48、nical interface coordinate systems are found in Annex A. 8 Tool coordinate system (TCS) The tool coordinate system is a coordinate system referenced to the end effector attached to the mechanical interface. 8.1 Notation Ot Xt Yt Zt 8.2 Origin, Ot The origin, Ot, is the tool centre point (TCP), see F
49、igure 5. Figure 4 Example of robot working space Licensed Copy: sheffieldun sheffieldun, na, Wed Nov 15 05:39:42 GMT+00:00 2006, Uncontrolled Copy, (c) BSI EN ISO 9787:1999 4 BSI 03-2000 8.3 + Zt axis The + Zt axis is tool dependent, normally in the direction of the tool. 8.4 + Yt axis In case of planar grasp type grippers (see ISO 14539) the + Yt axis is on the moving plane of fingers. 9 Robot motions 9.1 Translation The translation of the end effector is defined in reference to the base c