Number of axes—two axes are required to reach any point in a plane; three axes are required to reach any point in space. To fully control the orientation of the end of the arm (i. e. the wrist) three more axes (roll, pitch and yaw) are required. Some designs (e. g. the SCARA robot) trade limitations in motion possibilities for cost, speed, and accuracy.Kinematics—the actual arrangement of rigid members and joints in the robot, which...more
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