이 글은 필자가 "Introduction to Robotics" 책을 읽고 정리한 글입니다.
Location: position and orientation --> Attach a coordinate system(frame)
Kinematics: science of motion that treats motion without regard to the focus which cause it.
Manipulator consist of rigid links, which are connected by joints that allow relative motion of neighboring links. Some manipulators contain sliding joints, in which the relative displacement between link is a translation, sometimes called joint offset