Angle of rotation Angle of rotation In mathematics, the angle of rotation is a measurement of the amount, namely the angle, that a figure is rotated about a fixed point, often the center of a circle. A clockwise rotation is considered a negative rotation, so that, for instance, a rotation of 310° (counterclockwise) can also be called a rotation of –50° (since , a full rotation (turn)). A counterclockwise rotation of more than one complete turn is normally measured modulo 360°, meaning that 360° is subtracted off as many times as possible to leave a non-negative measurement less than 360°. For example, the
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,