This is a practical metric, in contrast to the abstract definition of degrees of freedom which measures the aggregate positioning capability of a system. Robot arms are described by their degrees of freedom. This provides a direct relationship between actuator positions and the configuration of the manipulator defined by its forward and inverse kinematics. Serial and parallel manipulator systems are generally designed to position an end-effector with six degrees of freedom, consisting of three in translation and three in orientation. Three degrees of freedom ( 3DOF), a term often used in the context of virtual reality, typically refers to tracking of rotational motion only: pitch, yaw, and roll. Specifically, the body is free to change position as forward/backward (surge), up/down (heave), left/right (sway) translation in three perpendicular axes, combined with changes in orientation through rotation about three perpendicular axes, often termed yaw (normal axis), pitch (transverse axis), and roll (longitudinal axis). Six degrees of freedom ( 6DOF) refers to the six mechanical degrees of freedom of movement of a rigid body in three-dimensional space. The six degrees of freedom: forward/back, up/down, left/right, yaw, pitch, roll
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