World 1 · Joints to position · 8 minThe robot’s coordinate system
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This arm has a yaw joint about vertical y, a shoulder and an elbow. Its two links are 1.65 m and 1.25 m long. The shoulder angle is measured from horizontal; the elbow angle is relative to the first link. Forward kinematics turns joint angles into a tool position.
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The maximum shoulder-to-tool distance is…
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