coordinate system referenced to the base mounting surface. ISO 9787:2013 A base mounting surface is a connection surface between the arm and its supporting structure.ISO 9787:2013 For non-robotic devices, it is the connection surface between the device and its supporting structure.
CAMERA
1.6
coordinate system referenced to the sensor which monitors the site of the task. ISO 9787:2013
MACHINE
1.6
coordinate system referenced to the home position and orientation of the primary axes of a piece of equipment.
MECHANICAL_INTERFACE
1.6
coordinate system referenced to the mechanical interface. ISO 9787:2013
MOBILE_PLATFORM
1.6
coordinate system referenced to one of the components of a mobile platform. ISO 8373:2012
OBJECT
1.6
coordinate system referenced to the object. ISO 9787:2013
TASK
1.6
coordinate system referenced to the site of the task. ISO 9787:2013
TOOL
1.6
coordinate system referenced to the tool or to the end effector attached to the mechanical interface. ISO 9787:2013
WORLD
1.6
stationary coordinate system referenced to earth, which is independent of the robot motion. ISO 9787:2013 For non-robotic devices, stationary coordinate system referenced to earth, which is independent of the motion of a piece of equipment.