Robotics & Control

Intermediate

Degrees of Freedom

Independent motions of a mechanism from bodies and constraints.

Formula

DoF = 6n - \sum c

Variables

DoFDegrees of freedom

nNumber of moving bodies

cConstraints

Example

A typical industrial arm has 6 DoF — enough to reach any position and orientation.

Did You Know?

Six degrees of freedom — three to move and three to rotate — let a robot arm place a tool anywhere in its workspace.

robotics dof kinematics

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