The two possible solutions are computed as
Solutions dc 8a da ebl 8b2 eb3
(in.) (deg.) (in.) (deg.) (deg.) (deg.)
1 2.499 30.001 1.499 14.999 30.004 9.997
2 14.089 239.999 11.536 -14.999 -30.004 189.997
2.6 Summary
The equations of inverse kinematics have been derived
for the dyads (R-L)-R-S, (R-L)-P-S, (R-L)-S-R and (R-L)-S-P
as shown in Fig. 2.7, each of which has six degrees of
freedom. Numerical examples have been shown to illustrate
the possible solutions for each subchain. The degrees of
polynomial equations in inverse kinematics for the dyads
with six degrees of freedom are summarized in Table 2.1.
Table 2.1 Degree of polynomial equation in inverse
Type of dyads Degree of polynomial equation
(R-L)-R-S 4
(R-L)-P-S 2
(R-L)-S-R 4
(R-L)-S-P 2
The detailed analysis and polynomial equation occurring
in inverse kinematics can be obtained using several methods.
The reader is advised to see the literature on kinematic
kinematics