Base Frame Transform

Conversion Settings

1Local Frame Pose in Base

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

T_base_local describes the origin and axes of the workpiece / local frame.

2Target in Local Frame

Target Coordinates in Base

X AxisY AxisZ AxisPositions in mm

Local → Base: T_base_target = T_base_local × T_local_target. Reverse conversion uses the inverse of T_base_local.

Conversion Settings

1Local Frame Pose in Base

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

T_base_local describes the origin and axes of the workpiece / local frame.

2Target in Local Frame

Target Coordinates in Base

X AxisY AxisZ AxisPositions in mm

Local → Base: T_base_target = T_base_local × T_local_target. Reverse conversion uses the inverse of T_base_local.