Extremal configurations of robot arms in three dimensions

Dirk Siersma

Journal of Singularities
volume 12 (2015), 180-190

Received 25 March 2014. Received in revised form 4 January 2015.

DOI: 10.5427/jsing.2015.12m

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We define a volume function for a robot arm in R^3 and give geometric conditions for its critical points.


Mechanical linkage, polygonal linkage, robot arm, configuration space, moduli space, oriented area,oriented volume

Author(s) information:

Dirk Siersma
University of Utrecht
Mathematisch Instiuut
email: D.Siersma@uu.nl