How to calculate the coordinates of the manipulator in space based on the angular coordinates of the joints?

There is a manipulator, it is 4 hinge (not ball), we need to calculate the coordinates of the gripper in space based on the angular coordinates of the joints, and of the inverse calculation.
Advise literature.
June 8th 19 at 17:06
2 answers
June 8th 19 at 17:08
Solution
something like this
More specifically, it needs the manipulator to see
No manipulator yet, I just theory needed - Isaias_Medhurst commented on June 8th 19 at 17:11
Well, dig in.
The link recalculation on the plane, and you need the space (3 coordinates). But there may be nuances associated with the design of the manipulator. May need for each plane to do its conversion and then it all somehow make - Luisa_Lueilwi commented on June 8th 19 at 17:14
June 8th 19 at 17:10
when I studied this thing called "theoretical mechanics"

Find more questions by tags MathematicsRobotics