Robotic Arm Lab
Chapter 2 — DOF + Joint Types (R/P) + Axes

Joint Types R = rotate, P = slide

J1 Type
Base joint
J2 Type
Shoulder joint
J3 Type
Elbow joint
DOF = kitne independent controls. Har unlocked joint = +1 DOF.

Joint Values Angle / Slide

J1 Value
Angle: -180° to 180°
J2 Value
Angle: -60° to 120°
J3 Value
Angle: 0° to 150°
Speed
Slow = observe axes
Smooth Motion
Human-like easing
Keys: R reset • L labels • X axes

DOF & Visibility

Lock J1
Remove 1 DOF
Lock J2
Remove 1 DOF
Lock J3
Remove 1 DOF
Show Axes
World frame
Show Labels
Names
Show Human Arm
Comparison
Human View
Split/Ghost
Human Speed
Teaching demo
DOF: —
EE: (—, —, —)
Drag rotate • Scroll zoom • Click joint hub → axis
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