# Robotic Joints - Joints connect the [Manipulator](Manipulator.md) links - A joint normally provides one Controllable Degree of Freedom (CDOF) - For each CDOF one separate [Actuator](Actuator.md) is needed - An endeffector with many (C)DOFs needs a lot of actuators! - [Rotary Joint](Rotary%20Joint.md) , [Prismatic Joint](Prismatic%20Joint.md)