| 摘要 |
A method for describing the structure of a robot representing robot parts as an assembly of elementary structures which is based on the skeletonic representation, a robot structure and a robot part. The parts CPCi are robot parts making up a robot. The connecting information CONNECTi is represented by a symbol "-" specifying serial connection to a previous elementary structure and a symbol ";n" specifying connection to the elementary structure n elementary structures before. The shape information jSHAPEi, is represented by straight lines by a vector jpi, and the coordinate transformation to the next elementary structure at the terminal point of iPARTj is given by the transformation matrix jRi.
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