Module n_joint_arm_3d 

3D N-joint arm control

Extension of the planar N-link arm to 3D space. Uses alternating yaw/pitch joints to reach arbitrary 3D positions.

Joint convention:

• Even-indexed joints (0, 2, 4, …) rotate around the Z axis (yaw)
• Odd-indexed joints (1, 3, 5, …) rotate around the Y axis (pitch)

Each link extends along the local X direction after the accumulated rotations.

Structs

NLinkArm3D

A 3D N-link arm with alternating yaw/pitch joints.