Puma 560 inverse kinematic solution
General definitions
Inverse kinematic setup
Inverse kinematic solution: θ1: Premultiply by T10
Inverse kinematic solution: θ3: Some more trickery
Inverse kinematic solution: θ2: Premultiply by T30
Inverse kinematic solution: θ4, θ5, θ6: The home stretch
Inverse kinematic summary
Created by Mathematica (September 29, 2003)