Among all robotic mechanical systems mentioned above, robotic manipulators deserve special attention, for various reasons. One is their relevance in industry. Another is that they constitute the simplest of all robotic mechanical systems, and hence, appear as constituents of other, more complex robotic mechanical systems, as will become apparent in later chapters. A manipulator, in general, is a mechanical system aimed at manipulating objects. Manipulating, in turn, means to move something with one’s hands, as it derives from the Latin manus, meaning hand.