Examples Of Ambiguities Of Position - Siemens SINUMERIK 840D sl Function Manual
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M1: Kinematic transformation
7.6 Cartesian PTP travel
7.6.3
Examples of ambiguities of position
The kinematics for a 6axis joint have been used to illustrate the ambiguities caused by
different joint positions.
Figure 7-24
Figure 7-25
Figure 7-26
566
Ambiguity in overhead area
Ambiguity of top or bottom elbow
Ambiguity of axis B1
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
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