User Guide
Table Of Contents
Dobot M1 PRO Hardware User Guide
Issue V1.1 (2021-07-08) User Guide Copyright © Yuejiang Technology Co., Ltd
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Figure 2.7 Righty hand orientation
Figure 2.8 Lefty hand orientation
Coordinate System
2.8.2.1 Joint Coordinate System
The Joint coordinate system is determined by the motion joints.
Figure 2.9 shows the Joint coordinate system of a M1 Pro robot. All the joints are rotating
joints.
M1 Pro contains four joints.
J1, J2, and J4 are the rotating joints, which are located and oriented in the horizontal
plane. And their axes are parallel to each other. The positive direction of these joints
is counter-clockwise.