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In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes. The common normal can be used to characterize robot arm links, by using the "common normal distance" and the angle between the link axes in a plane perpendicular to the common normal. When two consecutive joint axes are parallel, the common normal is not unique and an arbitrary common normal may be used, usually one that passes through the center of a coordinate system.

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  • عمود مشترك (روبوتات) (ar)
  • Common normal (robotics) (en)
  • Normale comune (it)
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  • في علم الروبوتات، يشير مصطلح العمود المشترك إلى محوري ربط غير متقاطعين وهما خط عمودي على كلا المحورين.ومن الممكن استخدام العمود المشترك لوصف وصلات ذراع الروبوت من خلال استخدام «مسافة عمودية مشتركة» والزاوية بين محاور الربط في موضع متعامد على العمود المشترك. وعندما يتوازى محورا ربط متعاقبان، فإن العمود المشترك لا يكون منفردًا ومن الممكن استخدام عمود مشترك اعتباطي، وعادة ما يكون العمود الذي يمر من خلال مركز النظام المشترك..يُستخدم العمود المشترك في تشكيل الإطار المرجعي لمفاصل وروابط الروبوت، واختيار الأشكال الأدنى مع معلمات دينافيت-هارتنبيرج. (ar)
  • In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes. The common normal can be used to characterize robot arm links, by using the "common normal distance" and the angle between the link axes in a plane perpendicular to the common normal. When two consecutive joint axes are parallel, the common normal is not unique and an arbitrary common normal may be used, usually one that passes through the center of a coordinate system. (en)
  • In robotica la normale comune fra due assi sghembi di giunti è la retta a cui appartiene il segmento di minima distanza fra punti appartenenti alle due rette. Modello di un manipolatore robotico Può essere utilizzata per caratterizzare i giunti fra i bracci di un manipolatore robotico, utilizzando la distanza fra due assi consecutivi e l'angolo fra essi ed il piano perpendicolare alla normale. Quando due assi consecutivi sono paralleli la normale comune non è univocamente determinata, ma se ne può scegliere una arbitraria, solitamente quella passante per l'origine del sistema di riferimento del giunto stesso. (it)
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  • في علم الروبوتات، يشير مصطلح العمود المشترك إلى محوري ربط غير متقاطعين وهما خط عمودي على كلا المحورين.ومن الممكن استخدام العمود المشترك لوصف وصلات ذراع الروبوت من خلال استخدام «مسافة عمودية مشتركة» والزاوية بين محاور الربط في موضع متعامد على العمود المشترك. وعندما يتوازى محورا ربط متعاقبان، فإن العمود المشترك لا يكون منفردًا ومن الممكن استخدام عمود مشترك اعتباطي، وعادة ما يكون العمود الذي يمر من خلال مركز النظام المشترك..يُستخدم العمود المشترك في تشكيل الإطار المرجعي لمفاصل وروابط الروبوت، واختيار الأشكال الأدنى مع معلمات دينافيت-هارتنبيرج. (ar)
  • In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes. The common normal can be used to characterize robot arm links, by using the "common normal distance" and the angle between the link axes in a plane perpendicular to the common normal. When two consecutive joint axes are parallel, the common normal is not unique and an arbitrary common normal may be used, usually one that passes through the center of a coordinate system. The common normal is widely used in the representation of the frames of reference for robot joints and links, and the selection of minimal representations with the Denavit–Hartenberg parameters. (en)
  • In robotica la normale comune fra due assi sghembi di giunti è la retta a cui appartiene il segmento di minima distanza fra punti appartenenti alle due rette. Modello di un manipolatore robotico Può essere utilizzata per caratterizzare i giunti fra i bracci di un manipolatore robotico, utilizzando la distanza fra due assi consecutivi e l'angolo fra essi ed il piano perpendicolare alla normale. Quando due assi consecutivi sono paralleli la normale comune non è univocamente determinata, ma se ne può scegliere una arbitraria, solitamente quella passante per l'origine del sistema di riferimento del giunto stesso. La normale comune è ampiamente utilizzata per rappresentare i sistemi di riferimento per i giunti dei manipolatori robotici, e per scegliere una rappresentazione minima mediante i parametri di Denavit-Hartenberg. (it)
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