1. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
Dual angle θ∧ = θ + ɛd between lines S1 and S2

2. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
Rotation of a vector X

3. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
Transformation of a vector X

4. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
D_H parameters and frames between relative links and the transformation i-1Mi from Γi-1 to Γi

5. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
Schematic diagram of a general serial 6R robot manipulator

6. Date of download: 10/7/2017
Copyright © ASME. All rights reserved.
From: Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra
J. Mechanisms Robotics. 2013;5(3): doi: /
Figure Legend:
The spray painting robot