Linear Spaces associated to 3R/P kinematic image

The kinematic image of a 2R/P (open) chain is the intersection of a 3-space and the Study quadric. For a 3R/P chain (8 combinations: RRR, RRP, etc.) this is a parametrized 3-space (by one of the parameterizing joints). In our paper we have written a thorough description and algorithm on how to obtain these parameterized linear spaces. This result is documented in this dataset (text file, zipped).