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*that the algorithm may converge to values that do not :correspond to- true inverse .kinematic solution sets. This requires the addition of a post-convergence method for checking the consistency of the solutions to filter-out extraneous ones. .Although this problem 'has not been bothersome in-practice,- it is-one that must be addressed., A trade-off between removal of extraneous solutions and computation cost exists. One desirable future improvement on the one- and two-dimensional techniques will be the development of fast techniques for the elimination of extraneous solutions.
Another future research area is in the establishment of
necessary structural conditions of 6-DOF manipulators for the applicability of the one-dimensional technique or the existence of closed-form solutions. The structural
conditions established in Chapters 5 and 7 are sufficient but not necessary. There may be other such geometry conditions to be discovered.
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