What is a 'kinematic chain' in robotics?

A 'kinematic chain' in robotics refers to the interconnected components, specifically joints and links, that define how a robot moves and positions itself. This chain is fundamental to understanding the robot's degrees of freedom, motion capabilities, and how it interacts with its environment.

In robotic systems, each link can be connected to another through a joint, and these connections create a structure that allows for specific types of movements, such as rotation or translation. The arrangement and configuration of these joints and links directly influence the robot's ability to perform tasks. Therefore, analyzing the kinematic chain helps engineers design robots that can perform desired motions effectively and efficiently.

This concept is essential in robotics not only for movement and functionality but also for programming and control tasks to ensure that robots can achieve precise and repeatable actions.