Measuring robot kinematics description and its workspace

Text deals with 6 degree of freedom measuring robot kinematics description enabling manipulation with measuring effector in 3D space. Mentioned description flowing from Denavit-Hartenberg notation for serial ordering of ideally stiff bodies connected by kinematic pairs, makes possible to create complete set of transformation matrices for coordinates transformation from distal to the adjoining proximal Cartesian coordinate system, which enables to calculate the coordinates of arbitrary structure point by means of joints' coordinates. Thenceforth it makes possible to determine standby and available robot workplace and mainly to perform the analysis of one fundamental control system problem of such robots-i. e. solving inverse kinematic problem. © 2016 The Authors, published by EDP Sciences