The document discusses mechanical joints and their degrees of freedom. It describes two common joints - the prismatic joint and revolute joint. The prismatic joint allows for single-axis sliding motion and is used in devices like cylinders. The revolute joint allows for rotation about a single axis. It also defines total degrees of freedom as the 6 possible motions in 3D space (3 translations and 3 rotations) and controllable degrees of freedom as the subset that can be controlled. An example is given of a non-holonomic robot that has 2 total DOF but can only control 1 DOF through its revolute joint.