The method of equivalence in robotics

  • Krzysztof Tchoń
Part of the Advances in Computing Science book series (ACS)


A manipulation robot is a technical system capable of affecting its environment purposefully, in a way resembling the human manipulation. The function of manipulation is executed by a mechanical device called a manipulator. The robotic manipulator consists of a certain number of rigid bodies called links, connected to each other by joints. Links form a chain that begins at a fixed base of the manipulator, and terminate at its end. Relative motions of consecutive links, accomplished at the joints, have usually one degree of freedom and can be described either as rotations or as translations. Accordingly, the joints are referred to as revolute or prismatic. In typical manipulator designs the joints are driven by independent actuators. Forces or torques exerted by actuators play the role of control inputs. From anthropomorphic perspective the manipulator acts as a substitute of the human arm, while the end-effector, often topped with a gripper, replaces the human hand.


Normal Form Mobile Robot Robotic Manipulator Tracking Problem Dynamic Compensator 
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© Springer-Verlag Wien 1998

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  • Krzysztof Tchoń

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