Binary scaling always a valid angle in the range of −180° degrees (−π radians) to +180° degrees (+π radians). In some cases, it is convenient to use unsigned multiplication (rather than signed multiplication) on a binary angle, which gives the correct angle in the range of 0 to +360° degrees (+2π radians or +1 turn). Compared to storing angles in a binary angle format, storing angles in any other format inevitably results in some bit patterns giving "angles" outside that range, requiring extra steps to range-reduce the value to the desired range, or results in some bit patterns that are not valid
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,