Among the processes that robots perform are:
The robot's work envelope is equivalent to area within the robot's reach. May illustrations depict this area as a sphere around the robot.
Traditionally, the robot's axes are numbered starting from the joint closest to the robot's base. Additionally, each of these axes is considered a degree of freedom. For example, a six joint robot has six degrees of freedom.
Normally, joints 1-3 on a six joint robot are referred to as the major axes, since they deal with large portions of motion of the robot.
Normally, joints 4-6 on a six joint robot are referred to as the minor axes, since they deal with more percise movement of the robot.
Robots function in a 3 dimensional coordinate system (x, y, z).
A coordinate system defines how the robot will move, when jogging the robot. The World, User, Tool, and Jog frames are all Cartesian frames, while the Joint frame is the only non-Cartesian frame.