The major axes are responsible for defining the location of the frames of motion.

• A. Control the orientation of the EOAT
• B. Establish the shape of the work envelope
• C. Define the location of the frames of motion
• D. Rotate about the minor axes to establish orientation

Answer: (C)

Frames of motion are described by a pose that has both position and orientation. The major axes (X, Y, Z) establish where the frame sits in space by translating along those directions, setting the frame’s location. Orientation, on the other hand, comes from rotations about the axes, not from the major axes determining position. The other choices describe end-effector orientation or the robot’s reachable workspace, which are different aspects from where the frame is located. So the statement that the major axes define the location of the frames of motion is the best fit.