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S3[i->j, {w_{i}, p_{i}}, {w_{j}, p_{j}}]function defines a list of input arguments of DefineKinematicPair function for the spherical joint definition between i and j links. |

- The kinematic pair is defined between i and j links where i and j are integers or strings.

- If i (j) is integer the link name is generated as "linki" ("linkj") respectively.

- The position and orientation of the joint markers are defined with {wi, pi} and {wj,pj}.

- wi and wj are defining the axis vector of joint , while pi and pj defines the center point of the joints. The coordinates are referring the local reference coordinate system of link i and j respectively.

- The axis vector of the joints could be specified with a list of coordinate or with string { "x" , "y" , "z" } representing the corresponding axes of the local reference frame.

- Three joint variables defines the spherical joint. Lets call them 1, 2, 3 respectively. The spherical joint is defined in such a way that 1 first rotates the upper link around the "z" axis of the joint marker than it rotates with 2 around the "x" and finally with 3 around the "z" axis.

- The following options can be given:

JointVariable | Automatic | specifies the symbol of the joint variable. | |

JointName | Automatic | specifies the name of the kinematic pair. | |

JointLimits | Automatic | defines the validity domain of the joint variable(s). | |

JointPose | Automatic | defines the offset value(s) of the joint variable(s). | |

Parameters | {} | List of the simple parameters used in the kinematic pair's definition ( e.g {l0→10,l1→3} ). | |

CandidateLoopVariables | Automatic | List of driving variable that will be used as loop variables in case of loop closing kinematic pair definition. | |

WorkingPrecision | MachinePrecision | WorkingPrecision is an option for various numerical operations which specifies how many digits of precision should be maintained in internal computations. | |

AccuracyGoal | Automatic | AccuracyGoal is an option for various numerical operations which specifies how many effective digits of accuracy should be sought in the final result. | |

MaxIterations | Automatic | MaxIterations is an option that specifies the maximum number of iterations that should be tried in various built-in functions and algorithms. |