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reasons. First, to show that the one-dimensional NewtonRaphson algorithm can perform kinematic inversions in realtime, 29.1 milliseconds per kinematic inversion on an AT&T 3B2/310 desktop computer (this figure drops to 18 milliseconds on an AT&T 3B15 computer) The second reason is the presence of a prismatic joint. Although this
dissertation was only concerned with all-revolute manipulators, the GP66 robot example shows that 'the techniques developed herein are applicable to manipulators with prismatic joints as well.
In example 3, we discussed an orthogonal manipulator of
simple geometry, yet not simple enough to allow closed-form solutions. The 0M25 robot illustrates the use of the onedimensional technique as an off-line analysis tool. By
interactively varying the robot parameters and the endeffector pose parameters in search of a maximum number of inverse kinematic solutions, the manipulator and the endeffector pose of Chapter 9, example 3 were discovered. if the work of Lee and Liang (in press) puts an upper bound of sixteen on the number of possible inverse kinematic
solutions of six-DOF robots, the 0M25 manipulator with the sixteen solutions found establishes 16 as the least upper bound on the number of solutions to the inverse kinematics problem.
The iterative techniques described in this dissertation have several advantages over other .existing numerical
..