Abstract: A robotic wrist joint comprises a spherical member which is mounted within a ring shaped housing for rotational movement in any direction. A control pin extends from an outer surface of the spherical member. A first semi-circular yoke is pivotally mounted to the ring shaped housing and carries a first track. A second yoke is provided in a position radially inwardly of the first yoke. The second yoke is also semi-circular and is mounted for rotation on the housing about an axis perpendicular to the rotational axis of the first yoke. The second yoke carries a second track. The control pin extends into both the first and the second track so that the spherical member can be brought into any desired location by selectively pivoting the yokes.