Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
· A robot must be able to map between things that it can control, such as joint angles, to the position of the tool in space.
· Describing the position of the robot in terms of joint positions/angles is Joint Space.
· Real space is often described with a number of coordinate systems,
· Positions can also be specified with respect to the robot base (Robot Coordinates), or globally (World Coordinates).