Examples Of Ambiguities Of Position - Siemens SINUMERIK Series Function Manual
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6.6.3
Examples of ambiguities of position
The kinematics for a 6axis joint have been used to illustrate the ambiguities caused by
different joint positions.
Figure 6-17
Figure 6-18
Figure 6-19
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Ambiguity in overhead area
Ambiguity of top or bottom elbow
Ambiguity of axis B1
M1: Kinematic transformation
6.6 Cartesian PTP travel
403
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