Table 8-1. Inverse kinematics of orthogonal manipulators

 Class Method Justification


1 00-000. D All six axes are parallel

2 00-001 D Five consecutive parallel axes

3 00-010 D Four consecutive parallel axes

4 00-011 D Four consecutive parallel axes

5 00-100 CF Three consecutive parallel axes

6 00-101 CF Three consecutive parallel axes

7 00-110 CF Three consecutive parallel axes

8 00-111 CF Three consecutive parallel axes

9 01-000 D Four consecutive parallel axes

10 01-001 CF Three consecutive parallel axes

11 01-010 CF -Three pairs of parallel axes

12 01-011 1-D Two pairs of parallel axes

13 01-100 CF Three consecutive parallel axes

14 01-101 2-D

15 01-110 2-D

16 01-111 2-D

..