The present invention relates to a multi-unit actuated kinematics (1), preferably a robot (1), particularly preferably an articulated robot (1), having a plurality of links (11) which are interconnected by actuated joints (12) with a base (10 ) fixed relative to the links (11) and connected by a first actuated hinge (12a) to a first link (11a), having an end effector (14) connected by an actuated link (12) to a link (11). 11), and at least one first image acquisition unit (21), preferably at least one first camera (21). The multi-membered actuated kinematics (1) is characterized in that at least the first image acquisition unit (21), preferably at least the first camera (21), on the base (10) or on a member (11), preferably on a base near member (11 ) is arranged.
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