Kinematics is the branch of mechanics that studies the motion of a body, or a system of bodies, without consideration given to its mass or the forces acting on it. A seriallink manipulator comprises a chain of mechanical links and joints. Each joint can move its outward neighbouring link with respect to its inward neighbour. One end of the chain, the base, is generally fixed and the other end is free to move in space and holds the tool or end-effector.