.. _ArmKinematics:

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Kinematics of Robot Arms
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The study of moving bodies and parts is called *Kinematics*. In robotics, we
use kinematics to facilitate the discussion of the pose and also velocity of
robots, parts of robots (sensors, arms, joints, and end effectors), and
objects of interest. 

When we know the joint angles and link lengths of a robot arm, we use
*forward kinematics* to calculate the pose of parts of the arm. When we know
what pose is needed, we use *inverse kinematics* to calculate the joint
angles that will yield the desired pose.

.. toctree::
   :maxdepth: 2

   forwardKin
   inverseKin