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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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