Wrist Figure

A wrist figure is defined by a set of the values of the 4th- and 5th-axis components.

The robot can take two different shoulder figures--Normal (NONFLIP) and Reversed (FLIP). The NONFLIP figure refers to a figure of the robot whose 4th axis is turned by 180 degrees without changing the wrist figure.

(J1-J6 describes each axis)