Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles

This paper describes efficient procedures for performing transformations from the position and velocity of the end effector to the corresponding joint angles and velocities, and vice versa, for a six-degree-of-freedom robot manipulator having three revolute joint axes intersecting at the wrist. Some attention is paid to the problems that arise when the manipulator's position is near a deadpoint.