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- W2012040486 abstract "Abstract A robot manipulator with six degrees of freedom can be separated into two parts: the arm with the first three joints for major positioning and the wrist with the last three joints for major orienting. If we consider the consecutive links to be parallel or perpendicular, only 12 arm and two wrist configurations are potentially useful and different for robot manipulator mechanical design. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for calculating the inverse kinematics of a robot manipulator are very efficient and easy." @default.
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- W2012040486 date "1989-01-01" @default.
- W2012040486 modified "2023-10-02" @default.
- W2012040486 title "The structure design and kinematics of a robot manipulator—I. Theory" @default.
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- W2012040486 doi "https://doi.org/10.1016/0736-5845(89)90058-6" @default.
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