Chapter 2 Fundamentals of Robotics 33
X Axis
1st Degree of Freedom
2nd
Degree
of
Freedom
Z
Axis
Y Axis
3rd Degree of Freedom
Figure 2-10. The three basic degrees of freedom are associated with movement along the X, Y, and Z
axes of the Cartesian coordinate system.
A
B
C
Pitch
X axis
Y axis
Roll
Z axis
Yaw
Figure 2-11. Three additional degrees of freedom—pitch, yaw, and roll—are associated with the
robot’s wrist. (Mack Corporation)