Kinematic chain
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A kinematic chain is the assembly of several kinematic pairs connecting rigid body segments. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors:
- Its topology: a serial chain, a tree structure, or a graph.
- Its geometrical form: how are neighbouring joints spatially connected to each other?
An articulated robot with a 7 DOF kinematic chain (including the end effector at the end of the arm).
