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Question about joint axis +/-

#1
As shown in the figure, industrial robots and collaborative robots have different definitions of positive rotation direction. The positive rotation direction of industrial robots differs from the right-hand rule. Why?


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#2
Each robot manufacturer defines their own convention for joint movements. And even within the same manufacturer you can find differences on how robot joints move (like regular 6-axis KUKA robots vs 7-axis KUKA IIWA).
  




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