Kinematics of Serial Robots
Kinematics describes the motion of a system of one or more bodies by considering their position, velocity, acceleration and possibly higher derivatives, i.e. disregarding forces and torques acting upon them. As this field is well-researched, the present chapter does not aim to provide a comprehensive discussion of existing methods. Interested readers are referred to general robotics textbooks such as  while advanced readers may prefer publications focusing on kinematics such as . However, the approaches most relevant for the successive chapters are discussed in great level of detail.
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