The Taylor series expansion of a rigid body with three de grees of freedom is used to define and locate the canonical coordinate system for the arm subassembly of a six-axis robot with a spherical wrist. The canonical coordinate system yields the canonical form of the instantaneous kinematic equations of motion of the terminal link and the canonical form of the Jacobian matrix for the arm subassembly. This form of the Jacobian matrix gives the canonical inverse ve locity and acceleration solutions of the arm subassembly. As examples, the canonical inverse velocity and acceleration solutions of the spherical arm subassembly and the articu lated arm subassembly are presented in the paper. A numeri cal example of the articulated arm subassembly is also in cluded.
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