Base Frame

The Base frame is defined as the root frame against which any other user coordinate systems can be defined. Its origin is commonly situated at the centre of the robot's base, hence the name, with its XY axes flat on the floor and Z pointing up through the robot. In some cases a World frame can also be defined, to allow multiple robots to share a common reference frame, but in most cases with a single robot the Base frame can be assumed to be the root frame.