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Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot. A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom.
For serial manipulators this requires solution of a set of polynomials obtained from the kinematics equations and yields multiple configurations for the chain. The case of a general 6R serial manipulator (a serial chain with six revolute joints ) yields sixteen different inverse kinematics solutions, which are solutions of a sixteenth degree ...
A manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation 3T and 3 rotation 3R coordinates for full 3T3R mobility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. [2]
In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms , or they were used in inaccessible places.
A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a serial manipulator. Errors in one chain's positioning are averaged in conjunction with the others, rather than being cumulative.
Stretch: an integrated mobile manipulator by Hello Robot targeting assistive applications. [133] [134] SummitXL: [135] mobile robot developed by Robotnik, an engineering company specialized in mobile robots, robotic arms, and industrial solutions with ROS architecture. UBR1: [136] [137] developed by Unbounded Robotics, a spin-off of Willow Garage.
Serial SCARA robot Parallel SCARA robot. The SCARA is a type of industrial robot.The acronym stands for selective compliance assembly robot arm [1] or selective compliance articulated robot arm.
SCCC codes were further analyzed in "Serial Turbo Trellis Coded Modulation with Rate-1 Inner Code". [6] In this paper SCCCs were designed for use with higher order modulation schemes. Excellent performing codes with inner and outer constituent convolutional codes of only two or four states were presented.