Mathematics, 01.07.2020 22:01, Yommms

The Stanford manipulator of Example 3.5 has a spherical wrist. Given a desired position o and orientation R of the end effector, 1. Compute the desired coordinates of the wrist center o~. 2. Solve the inverse position kinematics, that is, find values of the first three joint variables that will place the wrist center at oc. Is the solution unique

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The Stanford manipulator of Example 3.5 has a spherical wrist. Given a desired position o and orient...