Introduction to Robotic Manipulators
This chapter explains the distinctions and disadvantages of robotic manipulators in comparison to classical linkages, matrix-based formulation of displacement equation systems for Cartesian, cylindrical, spherical, articulated, and Selective Compliance Assembly/Articulated Robot Arm (SCARA) robots. It discusses forward kinematics of Cartesian, cylindrical, spherical, articulated, and SCARA robots, inverse kinematics and workspace of Cartesian, cylindrical, spherical, articulated, and SCARA robots. The end effector can serve to handle any tool or component. The R-R-C is comprised of four links interconnected with two revolute joints and one cylindrical joint. In forward kinematics, the link dimensions and joint motion of a robotic manipulator are known and the corresponding output motion of the links is calculated. While the robotic manipulator dimensions are known and the end effector motion is calculated in forward kinematics, in inverse kinematics, the end effector motion and link dimensions are known and the joint motion required to achieve the end effector motion is calculated.