Summary: This paper is written about Canadarm. Canadarm represents a very sophisticated piece of aerospace engineering-eight years in the making and costing about $100 million ("Case Study: Canadarm and Canadarm2," n.d.). Fifteen meters in length and weighing 410 kg (making it unable to support itself in Earth gravity), the Canadarm boasts six joints-or what are called six degrees of freedom: two at the shoulder (yaw, pitch); one at the elbow (pitch); and three at the wrist (pitch, yaw, roll).
