| Joint | Typical name | Main movement | Simple description |
|---|---|---|---|
| J0 | Base / Waist | Left ↔ Right rotation | Rotates the entire robot around the vertical axis |
| J1 | Shoulder | Up ↕ Down | Raises and lowers the main arm |
| J2 | Elbow | Bend ↔ Extend | Folds or straightens the arm |
| J3 | Wrist Pitch | Up ↕ Down | Tilts the wrist up and down |
| J4 | Wrist Roll | Clockwise ↻ / Counterclockwise ↺ | Rolls the wrist around the arm axis |
| J5 | Wrist Yaw | Left ↔ Right | Turns the wrist left and right |
| J6 | Tool / End-Effector Roll | Rotate ↻ ↺ | Rotates the gripper or tool around its own axis |
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