Preparing the published article.
Degrees of Freedom and Redundant Axes
More axes do not automatically mean more capability.
The basics
| Term | Explanation |
|---|---|
| Degrees of freedom | The number of independently driven joints |
| Six axes | Arbitrary position and orientation in space |
| Redundant axes | More joints than the task needs, for example seven |
What redundancy buys
- The ability to work around obstacles in confined spaces.
- Avoidance of singularities while keeping a continuous posture.
- A change of arm configuration while the tool stays in the same pose.
Redundancy increases planning and calibration complexity, and needs software that can use it.