M1: Kinematic transformation
6.6 Cartesian PTP travel
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
403
6.6.3 Examples of ambiguities of position
The kinematics for a 6axis joint have been used to illustrate the ambiguities caused by
different joint positions.
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Figure 6-17 Ambiguity in overhead area
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Figure 6-18 Ambiguity of top or bottom elbow
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Figure 6-19 Ambiguity of axis B1
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