nⅴ erse Kinematics 6-R Decoupled manipulator Position Problem(cont'd) Two equations (4.19a)and(4.20a)linear in cl, Sl, C3, S3, Solve cl, SI in terms of c3. S3 -G(Cc+ Ds3+E)+B(Hc3+Iss +J) (421a) 1 F(Ce3+Ds3+E)-A(Hcs+Is+J) (421b) △1=AG-FB=-2a1(2+2) (421c) If 41=0, then we have a singularity to be discussed later (421a)&(421b):c1+S1=1 K+J6+Me38+Ne3+P83+Q=0 22 u is eliminatedInverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) Two equations (4.19a) and (4.20a) linear in c1, s1, c3, s3, solve c1, s1 in terms of c3, s3 : If 0, then we have a singularity. To be discussed later (4.21a) & (4.21b): 1 2 1 2 c1 + s = 1 is eliminated