In 1961, the First Robot Arm Punched In
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Unimate robots were the world's first successful industrial robots. The units, designed by Unimation Inc., could perform tasks in manufacturing facilities that were difficult, dangerous, or monotonous for human workers. This is the first Unimate ever used on an assembly line. It was installed at the General Motors plant in Trenton, New Jersey, in 1961 to unload a die-casting press. | The Henry Ford
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Consider the Unimation Puma 200 manipulator. This is a six-axis articulated robot with a roll-pitch-roll type of spherical wrist (Check roll-pitch-roll type wrist configuration from literature or internet). Assign link coordinates and label the diagram with link length and joint distances. 2. Obtain kinematic parameter table consistent with your link coordinate diagram. Indicate which parameters are joint variables. 3. Compute wrist to base homogeneous transformation matrix. 4. Compute tool to w
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