Cartesian

Coordinate System

Called also
rectangular
coordinate
system
 Cartesian
Coordinate System

X- Axis
 Cartesian
Coordinate System

Y- Axis
 Cartesian
Coordinate System

Z- Axis
 Cartesian
Coordinate System
 Cartesian Coordinate

Let us distinguish between

the world coordinates and
the hand coordinates
Cartesian Coordinate
 Advantages of Cartesian System

1. High resolution and great accuracy and repeatibility

2. Good obstacle avoidance and collision prevention
3. Ease of joint motion with respect to gravity loading
4. Easier control
5. Lift capacity
 Disadvantages of Cartesian System
1. Large structural framework
2. Confinement of work space
3. Restriction on being compatible with other arms in a
common workspace. Large floor space
4. More complex mechanical design for linear sliding
motions.