Geometrical and Functional Characteristics and Manipulator Motion Planning

  • Adam Morecki
  • Józef Knapczyk
Part of the International Centre for Mechanical Sciences book series (CISM, volume 402)


Industrial robots are widely used to perform such tasks as bonding, welding, painting and assembling. In spite of this variety of industrial applications, robots have many geometrical properties in common The geometrical and design parameters of an industrial robot are usually the result of an optimal compromise between compactness and rigidity, maintaining a maximum volume of the reachable workspace.


Motion Limitation Kinematic Chain Industrial Robot Revolute Joint Link Length 
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Copyright information

© Springer-Verlag Wien 1999

Authors and Affiliations

  • Adam Morecki
    • 1
  • Józef Knapczyk
    • 2
  1. 1.Warsaw University of TechnologyPoland
  2. 2.Cracow University of TechnologyPoland

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