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Common normal (robotics)

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In robotics the common normal of two non-intersecting joint axes is a line perpendicular to both axes.[1]

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.[2]

References

  1. ^ Introduction to Robotics by Saeed Niku ISBN 0470604468 page 75
  2. ^ Robot manipulators: mathematics, programming, and control by Richard P. Paul 1981 ISBN 026216082X page 51


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