Joint constraints are rotational constraints on the joints of an artificial system. They are used in an inverse kinematics chain, in fields including 3D animation or robotics. Joint constraints can be implemented in a number of ways, but the most common method is to limit rotation about the X, Y and Z axis independently. An elbow, for instance, could be represented by limiting rotation on X and Z axis to 0 degrees, and constraining the Y-axis rotation to 130 degrees.