A Little Kinematics

  • J. M. Selig
Part of the Monographs in Computer Science book series (MCS)


In section 3.7, it was stated that the general problem of inverse kinematics for robots is rather difficult. However, for the 3-R wrist it is possible to give a general solution. This is because we are only dealing with three joints, and since the joints are all revolute, intersecting at a single point, we can reduce everything to the rotation group SO(3). So consider a three joint wrist, as in fig. 5.1, with the joint axes aligned along the unit vectors v1, v2 and v3. These are the home positions of the axes, and we will assume that these vectors are linearly independent. If the home position of the wrist has linearly dependent joint axes, then we can always move it a little and use a non-singular home position.


Joint Angle Planar Motion Inverse Kinematic Rigid Motion Revolute Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media New York 1996

Authors and Affiliations

  • J. M. Selig
    • 1
  1. 1.School of Electrical, Electronic, and Information EngineeringSouth Bank UniversityLondonUK

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