Good time of the day!
I’m busy with Inverse kinematics and geometric approach for Puma 600.
I found solutions for first three joints and now I have to find it for the last three. Perhaps my questions will be stupid.
Input for first free joints is tuple (x,y,z) in Cartesian space. What should be the input for the last three?
I read Shahinpoor, Fu and Gonzalez and some other and did not get it.
Would be very grateful for answer!
Best regards