Patent ID: 8099188

Claim:
An industrial robot for movement of an object in space, the industrial robot comprising: a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement, comprising a first actuator and three links, each link having an outer joint connected to the platform and an inner joint connected to the first actuator, a second arm arranged for influencing the platform in a second movement, comprising a second actuator and two links, each link having an outer joint connected to the platform and an inner joint connected to the second actuator, a third arm arranged for influencing the platform in a third movement, comprising a third actuator and one link having an outer joint connected to the platform, wherein at least one of said links is arranged with an adjustable length and includes a linear actuator for controlling the length of the link, wherein said link of the third arm is said link arranged with an adjustable length and includes said linear actuator for controlling the length of the link and the length of the link with the adjustable length is configured together with the position of the third actuator to minimize a deviation from 90 degrees between the link of the third arm and the links of the first and second arm.