A coordinate system referenced to the joint axes, the joint coordinates of which are defined relative to the preceding joint coordinates or to some other coordinate system. (ISO 8373)
Pinnacle Systems, Inc. (Safety Sensors and Controls for Industrial Machine Guarding Systems), Safety Glossary, Pittsburgh, Pennsylvania, USA 2014. http://www.pinnaclesystems.com/Glossary-B-I.html, (Ergo - Amer) {759}