Position transformation method for numerically controlled machines

摘要

The method involves a change from a base reference to a tool clamp reference interpolation and back again. It establishes a transformation between a tool clamp coordinate system (WZ) in the robot hand (TCP), and a base coordinate system (BA) in the tool piece (W). Mathematical interpolation procedures are applied to the tool clamp reference and then inverted, before the transformation from cartesian to axial coordinates.