User's Manual

Mirobot Mirobot Robot Users Manual
Document version Users Manual Beijing Tsinew Technologies Co.,Ltd.
Figure 3.3 joint coordinate system
Figure 3.4 Cartesian coordinate system
Joint coordinate system: the coordinate system determined by reference to each moving joint.
Milobot has six joints: j1j2 J3 J4 J5 J6, all of which are rotary joints. The positive rotation
direction of each joint follows the right-hand rule and the thumb points to the opposite direction of
the output shaft of each shaft motor.
Cartesian coordinate system: The coordinate system is determined by reference to the base of
the manipulator.
The origin of the coordinate system is the center of the base platform.
The x-axis direction is perpendicular to the fixed base forward.
The y-axis direction is perpendicular to the fixed base to the left.
3.3.3 Sports function
The motion modes of Mirobot manipulator include joint motion mode and a Cartesian
motion mode.
1. joint movement mode
Joint motion mode means that each joint of the manipulator is controlled separately.
You can click the joint motion button to move a single joint.
 Joint coordinate system mode: