Abstract
Summary In this paper, the efficient approach which was developed for computing an inverse kinematic solution with a closed form has been extended from a six-degree-of-freedom to a five-degree-of-freedom robot manipulator with a none spherical wrist. The TR 4000S spray paintinq robot manipulator has been used as an example to describe the principles. The inverse kinematic computation with a closed form solution shows that it is very systematic and efficient and easily carried out.
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