A Class of 6R Robots and Poses with 16 Analytical Solutions
M. G. Weiß
https://doi.org/10.19124/ima.2015.001.23
Abstract
We describe a class of 6R robots for which we can give explicit formulas for the 16 solutions in the special case of the tool orientation in parallel with axes of the base coordinate system. This setting can serve as the starting point for research towards better understanding of the 16 solutions.