ISO 9787:2013

Overview

ISO 9787:2013 - "Robots and robotic devices - Coordinate systems and motion nomenclatures" defines standardized robot coordinate systems and the nomenclature for basic robot motions. The third edition (2013) applies to all robots and robotic devices as defined in ISO 8373. It provides consistent rules for defining world, base, mechanical interface, tool (TCS/TCP), mobile platform, task, object and camera coordinate systems, and establishes conventions to support robot alignment, testing and programming.

Key topics and requirements

• Right‑hand coordinate systems: All coordinate frames use the orthogonal right‑hand rule.
• Translations and rotations notation:
  • Translations along axes: ±x, ±y, ±z
  • Rotations about axes: ±A, ±B, ±C (A = roll, B = pitch, C = yaw)
• Axis numbering: Axis 1 is the motion closest to the base mounting surface; subsequent joints are numbered sequentially up to axis m where the mechanical interface attaches.
• Coordinate system definitions:
  • World coordinate system: user‑defined, +Z opposite gravity vector.
  • Base coordinate system: manufacturer‑defined origin on base mounting surface; +Z normal to base.
  • Mechanical interface coordinate system: origin at interface centre; +Z normal to interface.
  • Tool coordinate system (TCS): origin at the tool centre point (TCP); axes tool‑dependent.
  • Mobile platform coordinate system: origin at platform reference; +X forward, +Z upward.
  • Task, object and camera coordinate systems: for task referencing, object handling and sensor frames.
• Annex A examples: Illustrative coordinate systems for different mechanical structures (rectangular, cylindrical, polar, articulated, SCARA).
• Normative references: Uses ISO 8373 vocabulary and aligns with established robot terminology.

Applications and who uses it

ISO 9787:2013 is practical for:

• Robot integrators and system designers - ensure consistent frame definitions across components.
• Control‑system and robot programming engineers - implement motion commands and frame transformations reliably.
• Manufacturers and OEMs - define mechanical interface and base coordinate conventions.
• Test engineers and calibration specialists - align, test and validate robot workspace and TCP.
• Safety engineers, researchers and educators - use standardized nomenclature for documentation, training and analysis.

Practical applications include robot kinematics, calibration, motion planning, vision‑guided manipulation, multi‑robot coordination, and mobile robot localization.

Related standards

• ISO 8373:2012 - Robots and robotic devices - Vocabulary (normative reference)
• ISO 9283, ISO 9946, ISO 14539 (listed in the ISO 9787 bibliography) - related performance, presentation and object‑handling standards.

Keywords: ISO 9787:2013, robot coordinate systems, motion nomenclature, tool coordinate system, TCP, base coordinate system, world coordinate system, robot programming, robot alignment, right‑hand coordinate system.