Two Optimized General Methods for Inverse Kinematics of 6R Robots Based on Machine Learning

Table 6

All groups of real solutions.

1	36.64732	55.0222	154.9653	77.53909	−136.2382	93.16235
2	36.64732	−50.54915	154.9653	77.53909	−136.2382	93.16235
3	36.64732	105.916	154.9653	77.53909	−136.2382	−9.495723
4	36.64732	−101.443	154.9653	77.53909	−136.2382	−9.495723
5	143.3527	110.5793	154.9653	77.53909	−136.2382	93.16235
6	143.3527	−59.60432	154.9653	77.53909	−136.2382	93.16235
7	143.3527	145.3161	154.9653	77.53909	−136.2382	−9.495723
8	143.3527	−94.34108	154.9653	77.53909	−136.2382	−9.495723
9	14.5427	20.82859	130.5472	−70.2145	60.2147	160.9745
10	14.5427	−44.5435	130.5472	−70.2145	60.2147	160.9745
11	14.5427	15.28996	130.5472	−70.2145	60.2147	−92.76167
12	14.5427	−39.00486	130.5472	−70.2145	60.2147	−92.76167
13	165.4573	98.19595	130.5472	−70.2145	60.2147	160.9745
14	165.4573	−59.02553	130.5472	−70.2145	60.2147	160.9745
15	165.4573	96.19785	130.5472	−70.2145	60.2147	−92.76167
16	165.4573	−57.02743	130.5472	−70.2145	60.2147	−92.76167