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一、工業(yè)機(jī)器人按臂部的運(yùn)動(dòng)形式分為四種：
　　1、直角坐標(biāo)型的臂部可沿三個(gè)直角坐標(biāo)移動(dòng)；
　　2、圓柱坐標(biāo)型的臂部可作升降、R88D-UP03LA AC100V 30W回轉(zhuǎn)和伸縮動(dòng)作；
　　3、球坐標(biāo)型的臂部能回轉(zhuǎn)、俯仰和伸縮；
　　4、關(guān)節(jié)型的臂部有多個(gè)轉(zhuǎn)動(dòng)關(guān)節(jié)。
　　二、工業(yè)機(jī)器人按執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)的控制機(jī)能又可分點(diǎn)位型和連續(xù)軌跡型：
　　1、點(diǎn)位型只控制執(zhí)行機(jī)構(gòu)由一點(diǎn)到另一點(diǎn)的準(zhǔn)確定位，適用于機(jī)床上下料、點(diǎn)焊和一般搬運(yùn)、裝卸等作業(yè)；
　　2、連續(xù)軌跡型可控制執(zhí)行機(jī)構(gòu)按給定軌跡運(yùn)動(dòng)，適用于連續(xù)焊接和涂裝等作業(yè)。
　　三、工業(yè)機(jī)器人按程序輸入方式區(qū)分有編程輸入型和示教輸入型兩類：
　　1、編程輸入型是將計(jì)算機(jī)上已編好的作業(yè)程序文件，R88D-UP03LA AC100V 30W通過RS232串口或者以太網(wǎng)等通信方式傳送到機(jī)器人控制柜。
　　2、示教輸入型的示教方法有兩種：
　　一種是由操作者用手動(dòng)控制器（示教操縱盒），將指令信號(hào)傳給驅(qū)動(dòng)系統(tǒng)，使執(zhí)行機(jī)構(gòu)按要求的動(dòng)作順序和運(yùn)動(dòng)軌跡操演一遍；
　　另一種是由操作者直接領(lǐng)動(dòng)執(zhí)行機(jī)構(gòu)，R88D-UP03LA AC100V 30W按要求的動(dòng)作順序和運(yùn)動(dòng)軌跡操演一遍。在示教過程的同時(shí)，工作程序的信息即自動(dòng)存入程序存儲(chǔ)器中在機(jī)器人自動(dòng)工作時(shí)，控制系統(tǒng)從程序存儲(chǔ)器中檢出相應(yīng)信息，將指令信號(hào)傳給驅(qū)動(dòng)機(jī)構(gòu)，使執(zhí)行機(jī)構(gòu)再現(xiàn)示教的各種動(dòng)作。示教輸入程序的工業(yè)機(jī)器人稱為示教再現(xiàn)型工業(yè)機(jī)器人。

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