107 to the position [1/2, 1/2, 1/10]T. ,output of the program. Table 9-3 shows the Table 9-3. GP66 trajectory points (in joint coordinates) -140.114-135.196 -129.853 -124.100 -118.000 -111.700 -105.467 -99.716 -94.958 -91.649 -90.000 -137.013 -135.357 -133.343 -130.873 -127.817 -124.006 -119.245 -113.360 -106.315 -98.352 -90.000 -121.439 -125.247 -129.428 -134.024 -139.068 -144.568 -150.474 -156.644 -162.840 -168.788 -174.278 All angles are in degrees. a2 = 0.36, The .maximum number of iterations needed per point was six. The guess for each point was the value of 8, at the preceding point. The experiment was started with a guess of -20. Convergence at every point was obtained when 6 or more points were taken along the trajectory. Although Table 9-3 gives the joint variables to only 3 decimal places, they were computed with a precision of 10-5. The program was written in C and run on an AT&T 3B2/310 desktop computer. -19.072 -15.319 -11.061 -6.234 -0.773 5.374 12.239 19.805 27.968 36.488 45.000 -54.427 54.980 55.823 57.063 58.831 61.276 64.532 68.657 73.551 78.908 84.279 1.192 1.090 0.992 0.901 0.820 0.751 0.697 0.662 0.649 0.660 0.694 d5 = 0.19 ..