Open-chain mobility — the number of independent degrees of freedom, summing
each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical
3). For a serial chain this equals the total DOF. (Closed-loop
Grübler/Kutzbach analysis is future work.)
Open-chain mobility — the number of independent degrees of freedom, summing each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical 3). For a serial chain this equals the total DOF. (Closed-loop Grübler/Kutzbach analysis is future work.)