The degree of freedom of motion refers to the number of variables required for the robot manipulator to move in space, which is used to represent the parameters of the flexibility of the robot's action, which is generally expressed by the number of independent movements moving along the axis and rotating around the axis.
A free object in space has six degrees of freedom (three rotational degrees of freedom and three degrees of movement of freedom). Industrial robots are often an open linkage system, and each joint motion pair has only one degree of freedom, so usually the number of degrees of freedom of the robot is equal to the number of its joints. The greater the number of degrees of freedom a robot has, the more powerful it becomes. Today's industrial robots usually have 4-6 degrees of freedom. Redundant degrees of freedom occur when the number of joints (degrees of freedom) of the robot increases to the point where orientation and positioning of the end effector no longer work. The advent of redundancy increases the flexibility of robot work, but also makes control more complex.
Industrial robots in the mode of movement, can always be divided into linear motion (abbreviated as P) and rotary motion (abbreviated as R) two kinds, the application of abbreviated symbols P and R can represent the characteristics of the manipulator's degree of freedom of movement, such as RPRR means that the robot manipulator has four degrees of freedom, from the base to the end of the arm, the way of joint movement is rotation - linear - rotation - rotation. In addition, the freedom of movement of industrial robots is limited by the range of motion.
The accuracy of the robot's mechanical system mainly involves posture accuracy, repeat posture accuracy, trajectory accuracy, repeat trajectory accuracy, etc.
Pose accuracy refers to the deviation between the command pose and the actual position pose center when approaching the command pose from the same direction. Repeatable pose accuracy refers to the degree of inconsistency in the actual pose after repeated response to the same command pose from the same direction n times.
Trajectory accuracy refers to the proximity of the robot's mechanical interface to follow the command trajectory n times from the same direction. Trajectory repeatability refers to the degree of inconsistency between trajectories after a given trajectory has been followed in the same direction n times.
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