6.1 Analytic Inverse Kinematics
6.1.1 6R PUMA-Type Arm
6.1.2 Stanford-Type Arms
6.2 Numerical Inverse Kinematics
6.2.1 Newton–Raphson Method
6.2.2 Numerical Inverse Kinematics Algorithm
6.3 Inverse Velocity Kinematics
6.4 A Note on Closed Loops
6.5 Summary
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