**6. Conclusion**

This chapter was focused on forward and inverse kinematics of open-chain mechanisms, namely manipulators with serial kinematic structures. We have introduced rigid motion and subsequently we have focused on forward kinematics. The chapter presents a kinematic model of SCARA by the well-known Denavit-Hartenberg convention. Within inverse kinematics was introduces several methods, including analytical, geometrical, and numerical. The last section dealt with modeling of kinematically redundant planar robots. At first, we introduced a six-link planar robot with focus on numerical solution using DLS. The last example presented a 20-link redundant manipulator moving between the obstacles. The solution includes, besides the primary solution, secondary tasks such as singularity avoidance, joint limit avoidance, and obstacle avoidance.
