Collaborative Robots(Cobots)-Systematization and Kinematics


  • Ionel Staretu ”Transilvania” University of Brasov, Brasov, Romania


robotic arm, human arm, collaborative robot, direct kinematics, inverse kinematics


The robotic arms of the human arm type, so-called collaborative robots or cobots, have been improved, optimized and diversified greatly in recent years. However, most of them are still equipped with mechanical grippers with pliers-like jaws. The paper presents the significant variants of collaborative robots now on the market, highlighting specific independent movements. It is shown and exemplified that solving direct and inverse kinematic analysis of these robots can be done with the method of homogeneous operators. It is recommended to equip these robots with anthropomorphic finger grips in order to obtain a maximum efficiency of their use.


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