Preparing the published article.
Robot kinematics in plain terms: joints, poses, workspace
Three concepts that decide whether a robot reaches your task.
Joints and degrees of freedom
A six-axis arm reaches any pose within its envelope, but each joint has hard limits.
Pose
Pose = position + orientation. Wrist orientation shown during teaching often drives reachability problems.
Workspace
The published envelope is a maximum; subtract singularities, cable interference and fixture space.
Method note: no vendor endorsement. Where public sources are cited, verify against the publisher's original text.