# American Institute of Mathematical Sciences

June  2014, 6(2): 141-166. doi: 10.3934/jgm.2014.6.141

## Geometric characterization of the workspace of non-orthogonal rotation axes

 1 DFKI GmbH, Robotics Innovation Center, Robert-Hooke-Straße 1, 28359 Bremen, Germany

Received  August 2013 Revised  May 2014 Published  June 2014

In this article, a novel characterization of the workspace of 3R chains with non-orthogonal, intersecting axes is derived by describing the set of singular orientations as two tori that separate two-solvable from non-solvable orientations within $SO(3)$. Therefore, the tori provide the boundary of the workspace of the axes' constellation. The derived characterization generalizes a recent result obtained by Piovan and Bullo. It is based on a specific, novel representation of rotations, called unit ball representation, which allows to interpret the workspace characterization with ease. In an appendix, tools for dealing with angles and rotations are introduced and the equivalence of unit quaternion representation and unit ball representation is described.
Citation: Bertold Bongardt. Geometric characterization of the workspace of non-orthogonal rotation axes. Journal of Geometric Mechanics, 2014, 6 (2) : 141-166. doi: 10.3934/jgm.2014.6.141
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