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
..