ALM -3

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Across
  1. 2. The volume within which a robot operates.
  2. 5. The type of kinematics that finds endeffector position from joint variables.
  3. 7. The study of motion without considering forces.
  4. 10. A position where the robot loses a degree of freedom.
  5. 13. Matrix that describes the relationship between two frames (often denoted as T).
  6. 14. Measurement unit often used for rotational motion.
  7. 16. Part of a transformation that involves an angle around an axis.
  8. 17. The part of a robot that interacts with the environment, e.g., a gripper.
Down
  1. 1. Matrix relating joint velocities to endeffector velocities.
  2. 3. A rigid body between joints in a robotic chain.
  3. 4. A type of rotation about the vertical axis.
  4. 6. Rate of change of position; important in kinematics analysis.
  5. 8. Connection between links allowing relative motion.
  6. 9. A coordinate system fixed on a robot link.
  7. 11. A line around which rotation occurs.
  8. 12. The type of kinematics that finds joint variables from endeffector position.
  9. 14. Abbreviation for the number of independent movements a robot can make.
  10. 15. A type of rotation about the longitudinal axis.