3.3.1 A 2D Kinematic Chain

Before considering a kinematic chain, suppose $ {\cal A}_1$ and $ {\cal A}_2$ are unattached rigid bodies, each of which is capable of translating and rotating in $ {\cal W}= {\mathbb{R}}^2$. Since each body has three degrees of freedom, there is a combined total of six degrees of freedom; the independent parameters are $ x_1$, $ y_1$, $ \theta_1$, $ x_2$, $ y_2$, and $ \theta_2$.


Steven M LaValle 2012-04-20