nⅴ erse Kinematics 6-R Decoupled manipulator Position problem a+Qia2+Q1Q2a3+Q1Q2Q3a4=c (4.16) a2+Q2a+Q2Q3a4=Qf(c-al Recall ai=Qibi Q2(b2+Q3b3+Q3Q4b4)=Q1c-b1 eq(4.3d 0 a4三QAb4三0≡be→Q2Q4b4≡b2Qe≡b4ul Q2(b2+Q3b3 +b4u3)=Q1c-bI (417)Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem Recall ai =Qibi - eq(4.3d)