Skip to main content
. Author manuscript; available in PMC: 2011 Feb 25.
Published in final edited form as: Int J Rob Res. 2009;57:535–549. doi: 10.1007/978-3-642-00312-7_33

Fig. 5.

Fig. 5

Geometric derivation of an inverse kinematic solution on SE(3). The point q may be chosen anywhere along the line through pg in the direction zg, although not all choices may generate a solution path. The planar IK algorithm is used to find the values of (β4,5,6.