The joints and links of a robot, hence a description of the articulation of a robot gives a description of its configuration.


In robotics, the description of the structure of a robot in terms of the type of each joint (i.e. translational or rotational) and the directions of the joint axes. There are five standard robot configurations: articulated (revolute), Cartesian-coordinate, cylindrical-coordinate, SCARA, and spherical-coordinate.

spherical-coordinate robot (polar-coordinate robot, spherical-configuration robot, spherical-polar robot) 

A robot having a rotational joint, joint angle θ1, with a vertical axis above the base frame (i.e. a waist joint), a rotational joint, joint angle θ2, with a horizontal axis at the end of the first link (i.e. a shoulder joint) and a translational joint, joint offset d3, with axis normal to the axis of the shoulder joint. The workspace is thus a hollow sphere centred on the base frame. The diagram shows an idealized spherical coordinate robot.

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Rafael Capurro

Published in AI & Society 2010, 35 (1), 35-42.


The purpose of this paper is to give an outline of digital hermeneutics understood as the encounter between hermeneutics and digital technology, particularly the Internet. In the first part, I want to raise the attention of IT researchers and hermeneuticists to the theoretic and practical relevance of the encounter of their areas of research that are sometimes considered as incompatible to each other. There is still a lot of translation work to be done in order to get these two cultures come closer to and profit from each other. The second part of the paper deals with the foundation of digital hermeneutics on what I call – following Heidegger’s and Vattimo’s paths – digital ontology as opposed to digital metaphysics.

Source: Digital Hhermeneutics