1. Cartesian Coordinate System Called also rectangular coordinate system

2. Cartesian Coordinate System X- Axis

3. Cartesian Coordinate System Y- Axis

4. Cartesian Coordinate System Z- Axis

5. Cartesian Coordinate System

6. Cartesian Coordinate Let us distinguish between the world coordinates and the hand coordinates

7. Cartesian Coordinate

8. Advantages of Cartesian System 1. High resolution and great accuracy and repeatibility 2. Good obstacle avoidance and collision prevention 3. Ease of joint motion with respect to gravity loading 4. Easier control 5. Lift capacity

9. Disadvantages of Cartesian System 1. Large structural framework 2. Confinement of work space 3. Restriction on being compatible with other arms in a common workspace. Large floor space 4. More complex mechanical design for linear sliding motions.