Angle trisection drawn through formula_25 to the semicircle, resulting in the intersection formula_28. The angle formula_48 generated by formula_49 and formula_50 is the angle formula_51 sought. Another means to trisect an arbitrary angle by a "small" step outside the Greek framework is via a ruler with two marks a set distance apart. The next construction is originally due to Archimedes, called a "Neusis construction", i.e., that uses tools other than an "un-marked" straightedge. The diagrams we use show this construction for an acute angle, but it indeed works for any angle up to 180 degrees. This requires three facts from geometry (at
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,