Glossary 71
99-04-23
Workspace
The space or volume consisting of all points that the robot arm can reach. The
outer boundary of the workspace is the work envelope.
Yaw, Pitch, Roll
The orientation of the wrist is defined by three angles: yaw (orientation about the Z
axis), pitch (orientation about the Y axis), and roll (orientation about the X axis).
The right-hand rule applies in determining the direction of these angles.
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