Description
Coupling kinematics permit the combination of existing kinematic transformations, providing a generic mechanism to arrange single kinematics to form a large kinematic.
Kinematics which are part of a coupling kinematic are referred to below as partial kinematics.
Partial kinematics can be divided into 2 different types:
- Serial, such as a kinematic chain.
- Parallel, such as a kinematic tree.
Every type of a kinematic tree can also consist of a kinematic chain. A serial chain cannot be further distributed and can only consist of kinematics from a kinematic library, with the exception of coupling kinematics.
