Inverse Kinematics 6-R Decoupled manipulator Position Problem( cont'd) R=4a(J-H)2+12(E-C)2-4p2a32 (4.26a S=4[4a2(J-H)+D(E-C〕 (4.26b) T=2[40(2-H2+21+A2(E-C2+2D2) PAui (426c) U=440(+)+DC+E8 (4.26d V=4a(J+H)2+2(E+C2-4p2 (4.26e Solving(4.22) (3)=2 arctan(m)],=1,2,3,4 (427) Substitute c3 and s3 to(4.21a)&(4.21b)to determine four different solutions of elInverse Kinematics • 6-R Decoupled Manipulator – Position Problem (cont'd) Solving (4.22): Substitute c3 and s3 to (4.21a) & (4.21b) to determine four different solutions of 1