The movement ability of the robot arms are expressed by degrees of freedom.
Special spatial robots have more than six degrees of freedom and are called redundant robots. Underactuated robots are spatial robots having less than six degrees of freedom.
There are different kinds of robotic joints having linkages. Different types of connectivity of different robotic joints have different degrees of freedom. The prismatic joint has one degree of freedom, or one connectivity, sliding joint has one degree of freedom and is linear in nature, whereas, cylindrical joints have two degrees of freedom, spherical or (ball and socket) joint have three degrees of freedom.
Ideal planar robots have three degrees of freedom and spatial robots have six degrees of freedom ideally.
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