Identifiers of the kinematic models

The kinematic models differ in the following areas:

• Basic types (e.g. SCARA)
• Number, type and sequence of joint axes: J1 to J6, linear/rotary (e.g. LRRR)
• Detail differences of the kinematic models (marked by the suffix Mx)
• INFORMATION: The "M" stands for model. The number 'x' is the unique identifier of the model. In the case of gantry robots, for example, such detail differences concern the specification of the Cartesian axis about which a rotary joint axis rotates; in the case of tripods, these concern the aspect of whether the 3 main drives are in a rotationally symmetrical or 90° offset arrangement.

The identifiers of the kinematic models are structured accordingly.