##

3.3.1 A 2D Kinematic Chain

Before considering a kinematic chain, suppose
and
are
unattached rigid bodies, each of which is capable of translating and
rotating in
. Since each body has three degrees of
freedom, there is a combined total of six degrees of freedom; the
independent parameters are , , , , , and
.

**Subsections**

Steven M LaValle
2012-04-20