User:Vannevarmorgan/Paden-Kahan Subproblems

Paden-Kahan Subproblems are a set of solved problems which occur frequently in inverse kinematics analysis of common manipulator designs. Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots.

NOTE: FOR EACH PROBLEM, PRESENT A PROBLEM STATEMENT, A FIGURE, AND A SOLUTION.

Problem Statement
For a zero-pitch twist with unit magnitude ξ and two points p and q, find an angle θ such that... (PAGE 99 OF MLS)

Subproblem 2': Rotation About Two Non-Intersecting Axes
When the two axes do not intersect at a point...

Example: SCARA Arm
Paden-Kahan subproblems may be used to obtain an inverse kinematics solution for a SCARA robot. (EXAMPLE ON PAGE 106 OF MLS)