On Thu, Feb 2, 2012 at 8:06 AM, Thomas Moulard <
thomas.moulard@gmail.com> wrote:
> On Mon, Jan 23, 2012 at 4:06 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:
>> REP-0103 says:
>>
>> "In relation to a body the standard is: x forward, y left, z up".
>>
>> While "up" may seem arbitrary for a gripper, "forward" suggests the
>> direction to which it is extended.
>
> Sorry for the delay.
> What would be your proposition, removing the scheme and just adding that
> the frames is oriented as X toward the object and Y the object main axis?
Definitely, X toward the object.
I propose Y to be the main dimension in which the "fingers" of the
gripper move. Some hand-like or claw-like devices may not fit that
notion very well, but it can probably be defined in a way that is at
least understandable.
Z would be the remaining dimension, orthogonal to X and Y.
--
joq
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