robotics Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrate ...

the common normal of two non-intersecting joint axes is a line perpendicular to both axes. The common normal can be used to characterize robot arm links, by using the "common normal distance" and the angle between the link axes in a plane perpendicular to the common normal. When two consecutive joint axes are parallel, the common normal is not unique and an arbitrary common normal may be used, usually one that passes through the center of a coordinate system.''Foundations of Robotics: Analysis and Control'' by Tsuneo Yoshikawa 1990 page 33 The common normal is widely used in the representation of the

frames of reference In physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points― geometric points whose position is identified both mathe ...

for robot joints and links, and the selection of minimal representations with the

Denavit–Hartenberg parameters In mechanical engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain In mechan ...

References

Robotics {{robo-stub

See also

References