Robotmaster supports 6 degree of freedom industrial robots of many different brands. All of these robots share common concepts. One concept they all share is their kinematics.
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General Kinematics Terms
Kinematics - The relationships between the positions, velocities, and accelerations of the links of a manipulator, where a manipulator is an arm, finger, or leg.
Forward Kinematics - Solving the forward transformation equation to find the location of the handin terms of the angles and displacements between the links (joint coordinates).
Inverse Kinematics - Solving the inverse transformation equation to find the relationships between the links of the manipulator from the location of the hand in space.
Kinematic Chain - A system of rigid bodies connected together by joints. A chain is called closed if it forms a closed loop. A chain that is not closed is called an open chain.
Joints
Every robot used in Robotmaster consists of 6 joints in a single open kinematic chain.
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Joint Set Configurations
Each set of 2 joints has 2 different configurations, to allow for a fully defined tool placement.
Joints | Common Name | Configurations |
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Joint 1 and Joint 2 | Base | Front and Back |
Joint 3 and Joint 4 | Elbow | Up and Down |
Joint 5 and Joint 6 | Wrist | Positive and Negative |
Base - Front and Back
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Elbow - Up and Down
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Wrist - Positive and Negative
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