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:

An articulated 7 DOF robotic arm is a kinematic chain (including the end effector at the end of the arm).
An articulated 7 DOF robotic arm is a kinematic chain (including the end effector at the end of the arm).

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