The principle of the robotic arm mainly involves its structure and motion control.
The robotic arm can be regarded as an open kinematic chain, which is composed of a series of links connected in series through rotating joints. In order to study the relationship between these links, a coordinate system is usually fixed to each link, and the relationship between these coordinate systems is described. Denavit and Hartenberg proposed a general method, namely the D-H method, which uses a 4x4 homogeneous transformation matrix to describe the relationship between two adjacent links, thereby deriving the homogeneous transformation matrix of the end coordinate system relative to the base coordinate system and establishing the kinematic equation of the robotic arm.
In addition, as an auxiliary tool, the robotic arm is widely used in various fields to improve work efficiency and reduce workload. The diversity of its types and application fields makes the robotic arm an indispensable and important equipment in modern industry, medical care, scientific research and other fields. However, there is no direct information in the search results about the specific types of robotic arms, but they can be classified according to the application scenarios, structural characteristics, and movement methods of the robotic arms.