Inverse Kinematics 6-R Decoupled manipulator Position Problem(cont' d) To get 02, use the first two equations of(4.17), which yield, All cos 82+A12 sin e2= c cos @1+yc sin@1-a1(4.2&a) A12co802+A11sin的2=-c1sin的1+yA1cos1 +(ac-b1)ul 428b) where +a3∞0663+ balls sin的3 4.28 A12≡-a2sin+bp2+b4A2|3co的3+bay2)3(428d) 62 [ ac cos @1+yc sin (1-a1 -A12[-acA1 sin @1+ ycAl cose1 (aC-b1)] (429a) sin e2=xA12(ac cos @1+yc sin 01-a1) +Ail-acAl sin g +ycA1 cos 81 (aC-b)]}Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) To get 2, use the first two equations of (4.17), which yield