Page 34 - Concise Encyclopedia of Robotics
P. 34
Axis Inversion
When robotic motions are programmed using the Cartesian (or rect-
angular) scheme, the difference between right-handed and left-handed
operations consists only of the reversal, or inversion, of the coordinates
in one of the axes. Generally, the left/right axis in a Cartesian scheme is
the x axis. The reversal of the coordinates in this axis is a form of single-
axis inversion.
The illustration shows two three-dimensional Cartesian coordinate
grids. In the top example, a right-handed scheme is depicted. The lower
drawing shows the left-handed equivalent. The coordinate designations
+z
-y
-x +x
Right-handed
+y
-z
+z
-y
+x -x
Left-handed
+y
-z
Axis inversion
