Orientation TCP

Kinematics hand axis and orientation TCP

To get the robot hand in the desired angle, you would need 3 handaxis.orientation hand axis - Orientation TCP
orientation robot gripper - Orientation TCPThe angle of the robot hand is called orientation. The axes of the hand, designated A, B and C, allow three movements: Roll, Pitch and Yaw. These terms were derived from shipping and aviation.

The angle position of the robot hand is called "orientation". 

 TCP = engl. Tool Center Point