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Definition of "spherical wrist" |
a wrist where all of its revolute axes intersect at a single point. Such a wrist is typically thought of as mounted on a three-degree-of-mobility arm of a six degree-of-mobility manipulator. For manipulators with a spherical wrist it is possible to solve the inverse kinematics from the arm separately from the inverse kinematics for the spherical wrist. This is equivalent to the inverse kinematics problem subdivided into two subproblems, since the solution for the position is decoupled from that for the orientation. |
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