What is the difference between joint space and Cartesian space in robotics?

The distinction between joint space and Cartesian space is fundamental in robotics. Joint space refers to the configuration of a robot articulated through its individual joints, where each joint's angle represents its position. This is particularly important for movement, as it deals directly with the internal mechanics of the robot's structure. In contrast, Cartesian space pertains to the robot's operational environment and focuses on the position of the end effector represented by 3D coordinates (x, y, z axis). This conceptual separation allows users to think about the robot's functionality in terms of either the mechanical movements of its joints or the spatial positioning of its end effectors in the work area.

This understanding is crucial in robot programming and control, as operations often require translating commands from Cartesian coordinates—understood in the context of the environment—into corresponding joint angles that the robot needs to achieve those positions. This difference is foundational for various applications in robotics, such as path planning and motion control.