What components define end-effector pose in task space?

• A. Position (x, y, z) and orientation (roll, pitch, yaw).
• B. Only x, y coordinates.
• C. Only orientation; position is unspecified.
• D. Time and speed.

Answer: (A)

End-effector pose in task space is defined by where the end-effector is and how it is oriented in 3D space. The position gives the x, y, z coordinates, telling you the tool’s location. The orientation provides the roll, pitch, and yaw, telling you the tool’s rotation relative to a reference frame. Together, these two components fully specify the pose, which is what you need to place and orient the tool for a given task.

If you only have x and y, you miss the height. If you have only orientation, you don’t know where the tool is. Time and speed describe motion, not the current pose.