View source for Manipulator Kinematics

{{chapter header|Rigid Body Motion|Manipulator Kinematics|Robot Dynamics and Control}}

The ''kinematics'' of a robot manipulator describes the relationship
between the motion of the joints of the manipulator and the resulting
motion of the rigid bodies which form the robot.  This chapter gives a
description of the kinematics for a general <math>n</math> degree of freedom,
open-chain robot manipulator using the tools presented in {{ch|Rigid Body Motion}}.
We also present a brief treatment of redundant and parallel
manipulators using this same framework.

== Chapter Summary ==

== Additional Information ==