\u2013In order to control and programme a
In order to control and programme a
robot we must have knowledge of
robot we must have knowledge of
both it\u2019s spatial arrangement and a
both it\u2019s spatial arrangement and a
means of reference to the
means of reference to the
environment.
environment.
\u2013KINEMATICS - the analytical study of
KINEMATICS - the analytical study of
the geometry of motion of a robot
the geometry of motion of a robot
arm:
arm:
swith respect to a fixed reference co-
with respect to a fixed reference co-
ordinate system
ordinate system
swithout regard to the forces or moments
without regard to the forces or moments
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