Page 76 - Concise Encyclopedia of Robotics

Cylindrical Coordinate Geometry
The elevation coordinate is either positive (above the reference plane),
negative (below it), or zero (in it).
The illustration shows a robot arm equipped for cylindrical coordi-
nate geometry. Compare CARTESIAN COORDINATE GEOMETRY, POLAR COORDINATE GEOME-
TRY, REVOLUTE GEOMETRY, and SPHERICAL COORDINATE GEOMETRY.
Sliding and
rotating movement
Telescoping arm

Reference plane

Reference axis
Cylindrical coordinate geometry

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