Joint classes

Joint classification

There are basically four different joint classes available.

Class	Description	Command	Symbol
Driven	The driven joint defines the position and orientation of that part of the kinematic chain that has the joint as parent. It is a main axis of the robot or manufacturing machine The dynamic behavior of the driven joint is calculated either with the motion planner or the inverse kinematic.
Synchronous	The synchronous joint is similar to the driven joint with the exception that it is no main axis of the resource. Typically applied in production and tool resources. The dynamic behavior of the synchronous joint is calculated with the motion planner.
Undriven	The undriven joint enhances the kinematic chain, but their position and orientation cannot be manipulated. They are the direct result of the motion of their parent (driven) joints.
Asynchronous	The asynchronous joint is a driven joint, but it is no part of the kinematic chain. Its motion is triggered by a signal. The resource where this joint has been applied needs an actor definition for the motion.

More kinematic reference information