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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
2020-08-14