This document provides an overview of industrial manipulator kinematics and accuracy/repeatability. It discusses the different types of links and joints used in manipulators, including revolute and prismatic joints. Forward and inverse kinematics are introduced for determining the end effector position from joint angles or vice versa. Accuracy refers to how close the end effector gets to the target position, while repeatability is the consistency of reaching the same cluster of points. Good accuracy and repeatability are achieved when the end effector repeatedly reaches a cluster close to the target point.