GB/T 16977-2005工业机器人　坐标系和运动命名原则.pdf

ICS 25.040.30 J 28 r 中 华 人 民 共 和 国 国 家 标 准 GB/T 16977-2005/ISO9787:1999 代替GB/T 16977-1997 工业机器人 坐标系和运动命名原则 Industrialrobots-Coordinatesystemsandmotionnomenclatures (ISO9787:1999,Manipulatingindustrialrobots-Coordinatesystemsand motionnomenclatures,IDT) 2005-07-29发布 2006-02-01实施 中华人民共和国国家质量监督检验检疫总局 发 布 中 国 国家 标 准 化 管 理 委 员 会 GB/T 16977-2005/ISO 9787:1999 目 次 前言 ········，，··········，··························································，···········，······················…… m 引言 .·IV 1 范围 ·············，···········，，，，··········，················。·····，。···············································…… 1 2 规范性引用文件 ······························································……，·····.······…… 1 3 术语和定义 ····························，，·· … 1 4 坐标系和旋转运动的定义 。··‘······，·························，·········.·，···…·…，.‘.·.……“… …1 5 绝对坐标系 ·····························..··············································，·······················…… 2 6 机座坐标系 .，·····，···················，·········，，···········甲价44··········，，·‘·····，·····，，…… 3 7 机械接口坐标系 ····································································.·..········...······.·...·…… 4 8 工具坐标系 .·······································································…… 4 9 机器人运动 ···································································································，··…… 4 10 机器人轴的命名原则·········································································…… 5 附录A (资料性附录) 各种机械结构类型机器人的应用示例 ······· ······，，6 GB/T 16977-2005/ISO 9787:1999