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And substituting them into Eqs. Right arm is A1 B1 5 atan2 pz px lL5 2 py 2 Dividing Eq. 5 by Eq. 4 we get the joint solution for 6 6 atan2 py px lL5 and if C45 lL3 C5 lL4 0 then we have 6 6. This results in a matrix equation that we label as G2 equation. The left-hand side of G2 is LHS G2 leg 5 A6 C6 nx S6 ny C6 sx S6 sy C6 ax S6 ay C6 px S6 py C6 lL5 S6 nx C6 ny S6 sx C6 sy S6 ax C6 ay S6 px C6 py S6 lL5 nz sz az pz and the right-hand side of G2 is RHS G2 leg 5 A0 5 A4 4 A3 3 A2 2 A1 1 A0 C1...

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we learned in the last video that a spherical wrist is used so that we can control all parts of the position of a manipulator the three linear positions and the three rotational positions in robotics one we learned how we could do inverse kinematics on a manipulator with as many as three joints by looking at it from the top view and from the side view and then using trigonometry to find angles that relate the XYZ positions of the end effector to the joint variables you might be remembering this and thinking that if we tried to do that with a six degree of freedom manipulator it would get really complicated and you would be right in fact because three of our positioning variables are not linear positions along an axis but our rotations around an axis this method will fail altogether when we try to do it with more than three degrees of freedom so instead we have a modified procedure that we use to deal with more than three degrees of freedom first in order to be able to do inverse kinema

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