=== Defining Manipulators ===
 
=== Defining Manipulators ===
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A robot manipulator defines a kinematic chain of the robot joint hierarchy along with optional gripper joint values that are not used in the inverse kinematics computation but are needed for grasping purposes (chains for heads, legs do not need the joint values). A manipulator defines a new frame of reference with respect to the end effector link; all inverse kinematics computations are computed using it. Furthermore, a manipulator can have a '''<direction>''' tag specifying an axis for approaching objects or line-of-sight. For example the '''robots/barrettwam.robot.xml''' gripper is defined by
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A robot manipulator defines a kinematic chain of the robot joint hierarchy along with optional gripper joint values that are not used in the inverse kinematics computation but are needed for grasping purposes (chains for heads, legs do not need the joint values). A manipulator defines a new frame of reference with respect to the end effector link ('''<effector>'''); all inverse kinematics computations are computed using it. Furthermore, a manipulator can have a '''<direction>''' tag specifying an axis for approaching objects or line-of-sight. For example the '''robots/barrettwam.robot.xml''' gripper is defined by
    
<source lang="xml">
 
<source lang="xml">
 
<Manipulator name="arm">
 
<Manipulator name="arm">