321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved in closed form, i.e.
321 kinematic structure is a design method for robotic arms (serial manipulators), invented by Donald L. Pieper and used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved in closed form, i.e.
Source: Wikipedia "321 kinematic structure" · CC BY-SA 4.0
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