nⅴ erse Kinematics 6-R Decoupled manipulator Position Problem(cont'd From eq (4.18c) position problem can be 2 decoupled from a1 b orientation problem es Three equations in b (4. 17)for three unknowns 01.02. and e3 C FIGURE 4.9. Three-axis, serial, positioning manipulator.Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) From eq. (4.18c) position problem can be decoupled from orientation problem. Three equations in (4.17) for three unknowns 1, 2, and 3