General methods and typical specific solutions for robot arm geometry
are well-known. This paper presents a detailed solution for a six
joint manipulator which has a rotation at mid-forearm rather than
a third wrist axis. Details are given indicating how real joint angles
relate to those modeled by the more abstract kinematics. All degeneracies
are considered and methods for handling them are given. The paper
provides a complete tutorial for kinematic modeling with a specific arm.
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