7. Glossary

Degré de liberté (ddl); degree of freedom (dof)

Number of independent generalized coordinates required to fully define the configuration of a system at each instant (IFToMM definition).

Rotoid joint; revolute joint

Rotational torque (noted R) also called pivot connection, allowing rotation around an axis.

Articulation prismatique; prismatic joint

Prismatic torque (noted P) also known as a sliding connection, allowing translation along an axis.

Assembly modes

For a parallel robot, solution of the direct geometric model.

Posture; posture

For a serial robot, inverse geometric model solution.

workspace; espace de travail

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