Question: Problem 4 . Below shows a 6 - DOF robot. The robot's wrist, called as the spherical wrist, is made such that the axes of

Problem 4. Below shows a 6-DOF robot. The robot's wrist, called as the spherical wrist, is made such that the axes of the 3 wrist joints meet at the wrist center point. Explain how many inverse kinematic solution exists for a given end-effector position/orientation. In addition, write a short survey report on the Pieper solution related to this type of robots.
Problem 4 . Below shows a 6 - DOF robot. The

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