The Universal Robot arm is composed of extruded aluminum tubes and joints. The joints with their usual names are shown in Figure 9.1. The Base is where the robot is mounted, and at the other end (Wrist 3) the tool of the robot is attached. By coordinating the motion of each of the joints, the robot can move its tool around freely, with the exception of the area directly above and directly below the base.
PolyScope is the graphical user interface (GUI) which lets you operate the robot arm and control box, execute robot programs and easily create new ones.