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Robot kinematics
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===Forward kinematics=== {{Main|Forward kinematics}} Forward kinematics specifies the joint parameters and computes the configuration of the chain. For serial manipulators this is achieved by direct substitution of the joint parameters into the forward kinematics equations for the serial chain. For parallel manipulators substitution of the joint parameters into the kinematics equations requires solution of the a set of [[polynomial]] constraints to determine the set of possible end-effector locations.
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