Most real world robots like industrial robots shown here have got 6 joints. And typically for industrial robots, those links are all revolute. That means they are rotating joints. Not sliding joints such as we saw earlier with the Stanford arm.
These robots are also all serial link manipulators and that means that we get from the base to the end effector by a series of robot links and robot joints.
We consider the most general type of serial-link robot manipulator which has six joints and can position and orient its end-effector in 3D space.
This content assumes an understanding of high school level mathematics; for example, trigonometry, algebra, calculus, physics (optics) and experience with MATLAB command line and programming, for example workspace, variables, arrays, types, functions and classes.