Manipulator Kinematics

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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 Template:Ch. We also present a brief treatment of redundant and parallel manipulators using this same framework.

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