What does the World Coordinate System define?

• A. The end effector pose in the task space
• B. The origin and axes of the robot manipulator relative to the robot base
• C. The joint angle limits of all axes
• D. The tool calibration constants

Answer: (B)

The World Coordinate System defines a fixed reference frame in the robot’s workspace, including its origin and three fixed, orthogonal axes. This frame stays stationary in the environment and provides a single, common reference for describing where objects are and how they’re oriented. With this frame in place, you can express a target position in world coordinates and then transform it into the robot’s base or tool frames for motion planning and control. The end effector pose in task space is the position and orientation of the end effector, which is described relative to a chosen frame (often the world frame), but the World Coordinate System itself is the reference frame, not that pose. Joint angle limits describe mechanical constraints, and tool calibration constants describe offsets between the robot and its tool; neither defines the fixed workspace reference frame.