Classification of Robot Arm Configurations by Geometric Characteristics of Workspace

Abstract

The workspace of robots is one of the most important performances. The relations between robot joint configurations and the workspace need to be specified for designing kinematic mechanisms of the robots. The authors discuss classification of the arm joint configurations by geometric characteristics of the workspace, dealing with fundamental tables of the arm joint configurations which exclude duplicate or ineffective joint configurations. The classification of the arm joint configurations provides useful data-base for selecting the appropriate arm according to the characteristics of the operation.