Joints can be classified based on their structure and movement. The main types are fibrous, cartilaginous, and synovial joints. Fibrous joints like sutures are generally immovable. Cartilaginous joints like symphysis allow slight movement. Synovial joints are freely movable and include ball-and-socket joints like the shoulder and hip, hinge joints like the elbow and knee, and gliding joints. Joints also have specific movements like flexion, extension, abduction, adduction, rotation, and circumduction.