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The dynamic capability of a resource is defined by its kinematic skeleton. This kinematic skeleton is a series of interconnected joints forming a chain that controls the motion of (parts of) the resource.
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A joint is a frame, a coordinate system, with several predefined motion properties.
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Coordinates
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The position and orientation of the joint.
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Axis
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The axis of the coordinate system to which the joint refers.
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Type
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The type of joint:
 translation
 rotation
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Parent
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The parent joint or root frame to define the dependency in the kinematic skeleton.
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Limits
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The maximum and minimum values of the joint movement.
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Max. velocity
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The maximum velocity of the joint movement.
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Max. acceleration/deceleration
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The maximum acceleration or deceleration of the joint movement.
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Connect undriven joint
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The rigid connection of an undriven joint to the parent driven joint.
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The root of a kinematic skeleton is set by the root frame of the resource. This root frame is associated to the fixed part of the resource, from which all (relative) motions are derived.
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During simulation, the exact values of the driven joints within a kinematic skeleton are set by the controller that is connected to the resource.
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