A robotic arm should pick a cuboid up of a table, rotate it around its vertical axis and put it down on all possible positions. How many degrees of freedom are at least necessary? (All coordinates, that should be reached by the robotic arm, are in its workspace. It is not allowed to put the cuboid down and pick it up, once the robot has it )
- The answer is 4 (3 translatory and 1 rotatory).
But I don’t understand why. I thouhgt that it should be 3. 2 prismatic joints: 1 to pick the cuboid up, and another one to move it anywhere on the table. 1 revolute joint to rotate the cuboid around its vertical axis. => 2 translatory and 1 rotatory.