The joint parameters of a robot arm or end effector are the scalar values, usually measured in linear displacement units and angular units, all of which together define the set of all possible positions the device can attain.

As an example, suppose a robot arm has three joints, each of which can rotate over 180°, along with a swivel base that can rotate 360°. This robot arm has four joint parameters, assuming the swivel base is considered as a joint.


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