标签：
kinematics
1. manipulator is defined by a set of links connected trough joints.
2. joint type: 移动，转动
3. configuration parameters
4. constraints, freedom.
5. planning motions in configuraiton coordinates
6. degress of redundancy.
7. rotation matrix.
标签：
原文地址：http://www.cnblogs.com/Aurora-Aurora/p/4614728.html
