... Modelling, Control and Education., Jamshidi, M., Luh, L. Y. S. and Shahinpoor, (Ed.), M. Elsevier Science Publishing Co., Inc, pp. 41-50. 184 Industrial Robotics: Theory, Modelling and Control ... -122.18Table 2. Inverse Position Solutions for the Spherical-wrist Robot. 216 Industrial Robotics: Theory, Modelling and Control rium is satisfied in the absence of the external loads, then the manipulator ... 1ˆz2ˆzC2C1s1s2s3Pc2Pc1Figure B. Two-point Intersection of Spatial Circles. 230 Industrial Robotics: Theory, Modelling and Control A quick inspection of the above equations shows that Eq. (35), which is...