Inverse Kinematics Overview(contd) Scope of this course- Decoupled manipulators Have Special architecture that allows the decoupling of position problem from orientation problem. e.g. PUMA analytical IKP solution availableInverse Kinematics • Overview (cont'd) Scope of this course – Decoupled manipulators - Have Special architecture that allows the decoupling of position problem from orientation problem. e.g. PUMA - Analytical IKP solution available