nⅴ erse Kinematics 6-R Decoupled manipulator Position Problem(cont'd)-coefficients of eq (4.19a A=and B=2a1yc (4.19c) C=2a23-2b2b423 (4.19d D=2a3b2P2+2a2b243 4.19e E=a2+吗++十房十一-2-v-(c-b1)2 +22b32+2b2b4A2入3+2bb4A3 The 3rd scalar equation of (4. 17)does not contain 02 and thus leads to Fcl+Gs1+Hc+Is3+J=0 (420a) F=ycl (420b) (420c) H=-b42/23 (420d) (420e) J=b2+b3A2+b4A2Ag-(ac-b1)1 (40Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) - coefficients of eq. (4.19a) The 3rd scalar equation of (4.17) does not contain 2 and thus leads to