Inverse Kinematics 6-R Decoupled manipulator Position Problem( cont'd) △2≡A31+A12 三G2+Q3(0320+)sn23)+确sn20+∞os203) + 2a2a3 cos B3+2a2b4bg sin e3 +2入22(b+b4A3)(b43∞03-a3sin的3) +23b4(1-A2sne3c6+(+A3b4)21吗 (429c) If A,=o there is a singularity which is to be discussed nextInverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) If there is a Singularity, which is to be discussed next