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Robot Manipulators - Waterloo Maple

Robot Manipulators Position, Orientation and Coordinate TransformationsFig. 1: Programmable Universal Manipulator Arm (PUMA)A Robot manipulator is an electronically controlled mechanism, consisting of multiple segments,that performs tasks by interacting with its environment. They are also commonly referred to as robotic arms. Robot Manipulators are extensively used in the industrial manufacturing sector and also have many other specialized applications (for example, the Canadarm was used on space shuttles to manipulate payloads). The study of Robot Manipulators involves dealing with the positions and orientations of the several segments that make up the Manipulators .

rotation about an axis perpendicular to the plane. Some Classification of Manipulators Manipulators can be classified according to a variety of criteria. The following are two of these criteria: By Motion Characteristics Planar manipulator: A manipulator is called a planar manipulator if all the moving links move in planes parallel to one another.

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