User-Defined Frames

It is also possible to define custom coordinate systems, sometimes called Work coordinate systems, that are defined relative to the Base. This allows very practical workflows, where the corner of a sheet of paper can then be defined as origin, and its edges as the X and Y axes. Waypoints can then be defined with local cartesian coordinates relative to this coordinate system, and it becomes very simple to reason about spatial coordinates since the sheet of paper can be placed and orientated freely around the robot's workspace without need to consider the global coordinates from the Base frame. Most robot controllers provide ways to easily define user frames by simply moving the robot tool to a chosen origin and axes, without measuring anything.