Which of the following best describes the World Coordinate System in robotics?

• A. It defines the end effector pose in task space
• B. It defines the color coding of sensors
• C. It defines the origin and axes of the robot manipulator relative to the robot base
• D. It defines joint torque limits

Answer: (C)

The world coordinate system is the fixed global reference frame used to describe positions and orientations in the robot’s workspace. In practice, this frame is often defined with its origin at the robot base and its axes aligned to the base, so it provides a consistent base-relative description for the manipulator’s pose and all kinematic calculations.

This is why the best choice describes the world frame as defining the origin and axes of the robot manipulator relative to the robot base: it establishes the common reference used to express where the arm is and how it is oriented in the environment.

The other options don’t address a reference frame. Describing the end effector pose in task space is about where the hand is, not how the world frame is defined. Sensor color coding and joint torque limits relate to perception or actuation, not to the coordinate system used for describing positions and orientations.