- Kinematic chain
A kinematic chain is the assembly of several
kinematic pairs connecting rigid bodysegments. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors:
topology: a serial chain, a parallel manipulator, a tree structure, or a graph.
* Its geometrical form: how are neighbouring joints spatially connected to each other?
robotic armis a kinematic chain (including the end effectorat the end of the arm).]
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