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Serial manipulators are the most common industrial robots. They are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an arm structure described as having a 'shoulder', an 'elbow', and a 'wrist'. Serial robots usually have six joints, because it requires at least six to place a manipulated object in an arbitrary position and orientation in the workspace of the robot. A popular application for serial robots in today's industry is the pick-and-place robot, called a robot, which has four degrees of freedom. An example of a serial manipulator with six DOF in a kinematic chain. In its most general form, a serial robot consists of a number of rigid links connected with joints.