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57:, i.e. a set of equations can be written that give the joint positions required to place the end of the arm in a particular position and orientation. An arm design that does not follow these design rules typically requires an
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The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint
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26:'s MIT Arm, built for MIT's Artificial Intelligence Lab ca. 1972, the first arm designed with a 321 kinematic structure
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D. L. Pieper, The kinematics of manipulators under computer control
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Robot arm design that allows inverse arm solution in closed form
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and used in most commercially produced robotic arms. The
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