A system with several bodies would have a combined DOF that is the sum of the DOFs of the bodies, less the internal constraints they may have on relative motion. A mechanism or linkage containing a number of connected rigid bodies may have more than the degrees of freedom for a single rigid body. Here the term degrees of freedom is used to describe the number of parameters needed to specify the spatial pose of a linkage. It is also defined in context of the configuration space, task space and workspace of a robot.