Manipulation planning refers to planning a suitable way in

which the manipulator can grasp an object in the workspace.

If I know the coordinate in the workspace of the manipulator

that I want the end-effector to reach, I need to calculate the joint angles to

get there with inverse kinematics.

If I know the configuration of the arm and want to calculate

the coordinates in the jointspace, I need to apply forward kinematics.

Kinematics deals with the study of motion of the arm based on

geometric description considering the forces acting on the robot structure that

cause the motion.