Inverse Kinematics 6-R Decoupled manipulator Position Problem(cont'd Solve the equation Q3Qb1≡bQ3e≡bu Q2(b2+Q3b+Q3Q4b4)=Qic-b1 Linear transformation of vector in e3 to vector in e 1 Norm of the vector is invariant,ie.,‖YHs‖=‖VRHs‖ eliminate e2 P2三a2++3+砖+G+2bQb3+2bu+2A1b3b4 =lcll+[b1P-2bQ L AC1+Bs1+Cc+Ds+E=0 (4.19a)Inverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) Solve the equation: Linear transformation of vector in 3 to vector in 1 Norm of the vector is invariant, i.e., || VLHS|| = || VRHS|| eliminate 2 2 3 1