Kinematic chain

A kinematic chain is the sequence of joints that describe the motion capability of a resource. A kinematic chain can be built from a combination of driven and undriven joints. Undriven joints build a sub system that is attached to a driven part of the chain.



Driven joints		Extended with undriven joints

Asynchronous joints have an independent role and therefore are not considered to be part of the kinematic chain.



Asynchronous joint added

More kinematic reference information

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