KINEMATICAL CLASSIFICATION OF ROBOT MANIPULATORS.

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Makino, H.

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| 1976年

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摘要：

A robot is kinematically a chained link which can be described by a vector loop. The function of a robot manipulator is the transformation of the position and orientation of an object, which is done mathematically by matrix multiplication. The ″rank″ of a robot, which is the number of rotational joints, is equal to the number of multiplied matrices and governs the complexity of the calculation of positions. A number of commercial industrial robots are classified by the rank and by the degrees of freedom, and the characteristics of each type of robot are discussed.

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