Consider a 6-axis robot at a point A in space, which is directed to move to another point B. Using the inverse kinematic equations of the robot, derived in Chapter 2, we may calculate the total joint displacements the robot needs to make to get to the new location. The joint values thus calculated can be used by the controller to drive the robot joints to their new values and, consequently, move the robot arm to its new position. The description of the motion to be made by the robot by its joint values is called joint-space description. In this case ,although the robot will eventually reach the desired position, as we will see later, the motion between the two points it unpredictable.