Yaw rotates the whole arm’s working plane around vertical y. At yaw 0°, the arm lies in the xy plane. At yaw 90°, its horizontal reach points along +z. Link lengths and the height of the tool do not change when only yaw changes.
Yaw rotates the whole arm’s working plane around vertical y. At yaw 0°, the arm lies in the xy plane. At yaw 90°, its horizontal reach points along +z. Link lengths and the height of the tool do not change when only yaw changes.