The Kuka ABC (and Fanuc WPR)

Explanations of the meaning of the angles A, B and C for Kuka and W, P and R for Fanuc.
00:00 Intro
00:31 Coordinate systems on the robot
02:20 Angles A, B and C at Kuka
07:59 Angles W, P and R at Fanuc
10:25 ABC = WPR
Kuka uses a zy'x'' convention, while Fanuc uses an xyz convention. Both conventions are equivalent to each other. See also: en.wikipedia.org/wiki/Euler_a...
Known bugs:
04:08 It should say "Starting from the orientation of the 'workpiece' coordinate system ...". Sorry for the confusion.
More robotic stuff: www.loullingen.lu/projekte/kuk...
The picture of the robot was provided by the company Cloos.

[@philip9059]

Thanks for the video. Very interesting!

[@SupakitSaksaringkan]

Thank you

[@cepi24]

Thank you sir. Is abb simmilar to kuka or fanuc?

[@cloullin]

Sorry I never worked with an ABB robot so far, but at the end of the following page a lot of the conventions used by the manufactures are listed. Alternatively download and install ABB RobotStudio and just give it a try.
robodk.com/blog/robot-euler-angles/

[@IP_work]

Thank you for the video. So am I understand right, ABC is always RzRyRx for KUKA?
On your toys you have A on X axis?

[@cloullin]

Sorry for the late answer, I didn‘t get a message upon your comment. Yes ABC at Kuka are rotations around the ZYX axes of the tool coordinate system. My ‚toy‘ is a business gift from Fanuc and if I remember well their answer why they have put A on the X axis was that this is related to their CNC machines. So nothing to do with Kuka.

[@JesusHealsAllWounds]

Where can I get those coordinate system little desk toys?

[@cloullin]

Good question as they are really well done. These are commercial gifts I got from Fanuc Europe who are based here in Echternach (Luxembourg). Unfortunately you cannot buy them and I think I understood that it's an exclusive Fanuc Europe gadget. I would try to contact your local Fanuc marketing office.

[@JesusHealsAllWounds]

@@cloullin 😢I was hoping that wasn't the case. Thanks for the info!

[@smoker_joe]

Kuka uses a relative rotation system, Fanuc an absolute one
What's important is that an order in one system is the opposite in the other
In other words :
==> Rz, Ry , Rx in a relative system = Rx, Ry, Rz in an absolute system.

[@fuzzySlash]

world can be located anywhere. root is located under the robot

[@cloullin]

My robot controller doesn't have ROBROOT yet, but you are right that today ROBROOT is located at the robot base of the individual robot and the idea of WORLD is more to be a common coordinate system of a complete robot cell that might contain multiple robots. Nevertheless, WORLD and ROBROOT are identical until you define a non default $ROBROOT.

[@aksting]

I was certain that you were Neil Cross from Tech3D.
www.youtube.com/@Neil3D