1. Morphology
A robot manipulator is made up of a series of rigid bodies (segments), articulated together. Articulations can be motorized (active) or non-motorized (passive).
1.1 Mechanism graph
To describe the topology of the mechanism making up the robot manipulator, we associate it with a graph whose vertices are the constituent bodies and whose arcs represent the connections between these bodies. Two extreme bodies have particular roles:
the base, which is fixed to the ground or to a vehicle;
the terminal organ that carries the tool (or end-effector).
From the base to the end-effector, we can distinguish :
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Morphology
Direct coordinate changes
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