Research Article
[Retracted] Motion Trajectory Planning and Design of Material Spraying Service Robot
Table 3
Inverse kinematics subproblem classification.
| | Subproblem | Order | Symbolic representation |
| | 1 | 1 | SubProb-R | | 2 | 1 | SubProb-T | | 3 | 2 | SubProb-RR | | 4 | 2 | SubProb-RT | | 5 | 2 | SubProb-TT | | 6 | 3 | SubProb-RRR | | 7 | 3 | SubProb-R RT | | 8 | 3 | SubProb-RTR | | 9 | 3 | SubProb-RTT | | 10 | 3 | SubProb-TRT | | 11 | 3 | SubProb-TTT |
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