Which coordinate system uses the robot's foundation as its point of origin?

The base coordinate system uses the robot's foundation as its point of origin, which serves as a reference for the robot's positioning in its environment. In this coordinate system, the axes are typically aligned with the robot's base structure, allowing for direct control over the robot's movements relative to its stationary support. This reference point is crucial for determining the robot's position and orientation in a predefined workspace, facilitating precise control during operation.

In contrast, the other coordinate systems serve different purposes. The tool coordinate system is oriented around the end effector or tool of the robot, which changes as the tool moves. The world coordinate system, while providing a global reference for positioning, does not specifically relate to the robot's base but rather serves as a standardized reference frame for a broader context. The joint coordinate system focuses on the angles of the individual joints of the robot, providing a different type of reference that is specific to the robot's joint configurations.