Manipulators P Configuration of robot specified by 6 numbers 6 degrees of freedom (DOF) 6 is the minimum number required to position end-effector arbitrarily. For dynamical systems,add velocity for each DOF Chapter 25 4 Manipulators R R R P R R Configuration of robot specified by 6 numbers ⇒ 6 degrees of freedom (DOF) 6 is the minimum number required to position end-effector arbitrarily. For dynamical systems, add velocity for each DOF. Chapter 25 4