Joint Space and Cartesian Space Explained

The difference

Joint space describes posture by axis angles, each independently controlled. Cartesian space describes tool position and orientation, which is closer to how operators think.

When each is used

Straight-line motion, contour following and dispensing paths are easier to describe in Cartesian coordinates. Avoiding singularities, limiting posture and protecting joints work better in joint angles.

Practical tip

Record both the Cartesian pose and the joint angles for each taught point, and note whether multiple solutions exist.