Multi-joint robots are one of the widely used types of industrial robots. Their mechanical structure is similar to that of a human arm. The arm is connected to the base through a torsion joint. The number of rotary joints connecting the links in the arm can range from two to ten, with each joint providing an additional degree of freedom. The joints can be parallel or orthogonal to each other. Joint robots with six degrees of freedom are the more commonly used industrial robots because their design offers a very high level of flexibility. The main advantages of joint robots are that they can operate at high speeds and have a very small footprint.