Geometric formulations for the inverse kinematics problem (IKP) in robotics are often set up in the full Cartesian space of three translational and three rotational coordinates (3T3R). When transferring this to tasks with ...

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific ...