Beta angle result of the beta angle of the space station at those times. When the orbiter was in-flight (not docked to ISS) and it flew to a beta angle greater than 60 degrees, the orbiter went into "rotisserie" mode, and slowly rotated around its X-axis (nose to tail axis). For flights to ISS, the shuttle could launch during an ISS beta cutout if the ISS would be at a beta less than 60 degrees at dock, and throughout the docked phase. Therefore, the mission duration affected launch timing when the beta cutout dates were approaching. Beta angle The beta angle (formula_1)
Six degrees of freedom the configuration of the manipulator defined by its forward and inverse kinematics. Robot arms are described by their degrees of freedom. This number typically refers to the number of single-axis rotational joints in the arm, where higher number indicates an increased flexibility in positioning a tool. This is a practical metric, in contrast to the abstract definition of degrees of freedom which measures the aggregate positioning capability of a system. In 2007, Dean Kamen, inventor of the Segway, unveiled a prototype robotic arm with 14 degrees of freedom for DARPA. Humanoid robots typically have 30 or more degrees of freedom,