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Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The algebraic approaches have established concrete results but are unfortunately limited to special classes or architectural simplifications. Geometric approaches on the other hand have extended the analysis to generic robots while also providing an intuitive understanding of their kinematic properties. We use the best of both approaches to present the kinematic analysis of a generic 3R robot, using the inverse kinematic model inherited from a method based on conformal geometric algebra. Th

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