Robotic arm is an automatic mechanical device that has been widely used in the field of robot technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although their forms are different, they all have a common feature, that is, they can accept instructions and accurately locate a point in three-dimensional (or two-dimensional) space for operation.
Manipulators are divided into multi joint manipulator, rectangular coordinate manipulator, spherical coordinate manipulator, polar coordinate manipulator, cylindrical coordinate manipulator, etc. according to different structural forms. Figure 1 shows a common six degree of freedom manipulator. It consists of six degrees of freedom: X movement, Y movement, Z movement, X rotation, Y rotation and Z rotation.
