Review IKP-6-R Decoupled manipulator Solution process overview Arm(position) Wrist(orientation) 1+91a2+Q1 a3+q1Q q3a=c 01.02.0 04.05.66 Eliminate e2 Special geometrv in Elimination Equ's in 01, 03 wrist axis efe =d △1≠0 Eliminate e1 Quadratic equ inτ4(64) Quartic equ in t3(03) Radical≥0 0 Solution △2≠0 Max Number of solution 4 Max Number of solution 2Review • IKP – 6-R Decoupled Manipulator Solution process overview: Arm (position) Wrist (orientation) 1, 2, 3 Equ's in 1, 3 Quartic equ in 3 (3) Eliminate 2 1  0 Eliminate 1 3 1 2 2  0 Max Number of Solution: 4 Elimination Solution 4, 5, 6 Quadratic equ in 4 (4) 4 5 6 Radical  0 Max Number of Solution: 2 Special geometry in wrist axis