Inverse Kinematics 6-R Decoupled manipulator Position Problem( cont'd) K=4aH2+12C2 (4.23a) L=4a2 2+A]D2 (4.23b) M=2(4aHI+HCD (423c N=2(40H+CE) (4.23d) P=2(4afIJ+HIDE 4.23e) Q=4a12+E2-4a1A2p (423f P2=xa+ya Tan-half-angle Use trigonometric identities to treat (4.22) dentities 2 C3=1+3 83 +2 where≡tan( (4.24) y Rrf+s+Ti+U3+V=0 (425)Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) – Use trigonometric identities to treat (4.22) Tan-half-angle￾identities