A manipulator is a robotic arm used to manipulate materials without direct contact. It consists of a series of jointed segments that can grasp and move objects with multiple degrees of freedom. Manipulators are used in diverse applications like welding automation, robotically-assisted surgery, and in space. An industrial robot is made up of a manipulator arm, a power supply, and controllers. The arm uses joints and links to move and position parts or tools within a work area. Transformation matrices are used to describe the position and orientation of frames of reference between the different links of a robotic manipulator.

1. Manipulator
Transformation
Matrix
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2. What is Manipulator?
In robotics, a manipulator is a device used to manipulate materials without direct
contact. The applications were originally for dealing with radioactive
or biohazardous materials, using robotic arms, or they were used in inaccessible
places. In more recent developments they have been used in diverse range of
applications including welding automation , robotically-assisted surgery and
in space. It is an arm-like mechanism that consists of a series of segments, usually
sliding or jointed called cross-slides, which grasp and move objects with a number
of degrees of freedom.

3. Manipulator
An industrial robot is comprised of a robot
manipulator, power supply, and controllers. Robotic
manipulators can be divided into two sections, each
with a different function: Robot Arm and Body
The arm and body of a robot are used to move and
position parts or tools within a work envelope. They
are formed from three joints connected by large links.

4. Tranforamtion
of Frame 1 with
respect to
Frame 0

7. Step 2Step 1
Step 4Step 3
Step 1

9. Applications of Transformation Matrices:-

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