: a0 position [...] on the first axis (a0) and a [...] WithInfo2 Transformation FB for a 2

axis a0 that turns [...] : a0 position [...] to when the first rotary axis (a0

: a0 position [...] axis (a0) together [...] WithInfo2 Transformation FB for a 3

: a0 position [...] /Max a0 YES [-180 [...] a_i link twist 0

: a0 position [...] axis (a0), i.e. a [...] WithInfo2 Transformation FB for a 3

: a0 position [...] to when the first rotary axis (a0 [...] to when the first rotary axis (a0

: a0 position [...] to when the first rotary axis (a0 [...] to when the first rotary axis (a0

: a0 position [...] a_i link twist 0 0° d1 a1 -90° 1

: a0 position [...] a_i link twist 0 0° d1 a1 90° 1 90

axis a0 that turns [...] : a0 position [...] to when the first rotary axis (a0