Ty A. Lasky, Tien C. Hsia, Mark L. Nagurka, Thomas R. Kurfess, Nicholas G. Odrey

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


Con?guration is a fundamental classi?cation for industrial robots. Con?guration refers to the geometry of the robot manipulator, i.e., the manner in which the links of the manipulator are connected at each joint. The Robotic Industries Association (RIA, see de?nes a robot as “a manipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.” With this de?nition, attention here is focused on industrial manipulator arms, typically mounted on a ?xed pedestal or base. Mobile robots and hard automation (e.g., computer numerical control [CNC] machines) are excluded. The emphasis here is on serial-chain manipulator arms, which consist of a serial chain of linkages, where each link is connected to exactly two other links, with the exception of the ?rst and last, which are connected to only one other link. Additionally, the focus is on the ?rst three links, called the major linkages, with only a brief mention of the last three links, or wrist joints, also called the minor linkages.

Original languageEnglish
Title of host publicationSystems, Controls, Embedded Systems, Energy, and Machines
PublisherCRC Press
ISBN (Electronic)9781420037043
ISBN (Print)0849373476, 9780849373473
StatePublished - 1 Jan 2017
Externally publishedYes

ASJC Scopus subject areas

  • General Engineering


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