6-DOF Robot Arm Kinematics

digraph k {
  rankdir=LR;
  graph [bgcolor=transparent];
  node [shape=box, style="rounded,filled", fontname=Inter, fontsize=10];

  Base [label="Base\n(world frame)", fillcolor="#dbeafe"];
  J1 [label="Joint 1\n(yaw)", fillcolor="#fef3c7"];
  L1 [label="Link 1"];
  J2 [label="Joint 2\n(pitch)", fillcolor="#fef3c7"];
  L2 [label="Link 2 (upper arm)"];
  J3 [label="Joint 3\n(pitch)", fillcolor="#fef3c7"];
  L3 [label="Link 3 (forearm)"];
  J4 [label="Joint 4\n(roll)", fillcolor="#fef3c7"];
  L4 [label="Link 4 (wrist 1)"];
  J5 [label="Joint 5\n(pitch)", fillcolor="#fef3c7"];
  L5 [label="Link 5 (wrist 2)"];
  J6 [label="Joint 6\n(roll)", fillcolor="#fef3c7"];
  EE [label="End effector", fillcolor="#dcfce7"];

  Base -> J1 -> L1 -> J2 -> L2 -> J3 -> L3 -> J4 -> L4 -> J5 -> L5 -> J6 -> EE;
}