Measure
Degrees of freedom
You might say: DoF, axes
Degrees of freedom (DoF) are the independent coordinates needed to describe a configuration.
- What it does
- DoF tells whether the robot can command the task variables and whether redundant motion is available.
- Ask
- Does the task need six pose DoF, or is extra redundancy useful?
- Typical
- A free spatial rigid body has 6 DoF. Revolute and prismatic joints each have 1; a spherical joint has 3. A planar mobile base has x, y and heading, and Grübler's formula counts mechanism mobility when constraints are independent.
- Trouble
- Too few DoF makes a pose impossible; extra DoF creates choices that still need limits, collision checks and a selection rule.
Sources
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 2 §§2.1–2.3
Degrees of freedom = (number of variables) − (number of independent equations).
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §2.2 Degrees of Freedom of a Robot: Joint types
The spherical joint, also called a ball-and-socket joint, has three degrees of freedom.
Use it on your project
teardown-apply: hold "Degrees of freedom" (degrees-of-freedom) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal