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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 .

By Kinematic Structure Open-loop manipulator (or serial robot): A manipulator is called an open-loop ... inverse and the transpose of the rotation matrix of Frame A with respect to Frame B. Principal Rotation Matrices Rotation about the z-axis If a reference frame (Frame A) is rotated by an angle about the z-axis to obtain a ...

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