7 SOLVING 6-DOF MANIPULATORS. 70

 Reduction to a 4-DOF Problem. 70 Two-Dimensional Iterative Technique .72 one-Dimensional Method. 82 Closed-Form Solution. 83

 8 ORTHOGONAL MANIPULATORS. 87 9 APPLICATION EXAMPLES. 92

 Example l:.The PUMA 560 .92 Example 2: The GP66. 98 Example 3: The 0M25 Manipulator. 108 Example 4: 0M37 Manipulator. 122
 Example 5: A General Geometry 6-DOF
 Manipulator. 124

 10 CONCLUSION AND FUTURE WORK. 126

APPENDIX SOLVING FOR.13 REFERENCES. 136 BIOGRAPHICAL SKETCH. 139


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