|Title||Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains|
|Publication Type||Conference Paper|
|Year of Publication||In Press|
|Conference Name||International Symposium on Advances in Robot Kinematics (ARK)|
Based on the definition of three (6x6)-matrix operators for Plücker vectors, the paper presents a novel adjoint formulation of the Rodrigues equation for spatial displacements in the trigonometric form. Due to the structural similarity of this generalized equation to its spherical pendant, the principle of transference is applicable to lift the analytic solution to the inverse kinematics problem of generic spherical 3R chains yielding an analytic solution for generic spatial 3R chains based on the geometry of lines and screws.