Kinematic poses of six-axis articulated robot

Pose denotes the position and orientation of the TCP, The six-axis articulated robot kinematic described here (KIN_TYP_45) can achieve a pose with up to eight different joint configurations.

Kinematic poses of six-axis articulated robot 1:

Pose 1- Status B000

Kinematic poses of six-axis articulated robot 2:

Pose 2- Status B001

Kinematic poses of six-axis articulated robot 3:

Pose 3- Status B010

Kinematic poses of six-axis articulated robot 4:

Pose 4- Status B011

Kinematic poses of six-axis articulated robot 5:

Pose 5- Status B100

Kinematic poses of six-axis articulated robot 6:

Pose 6- Status B101

Kinematic poses of six-axis articulated robot 7:

Pose 7- Status B110

Kinematic poses of six-axis articulated robot 8:

Pose 8- Status B111

The possible joint configurations are identified by the pose status.

	When a transformation is active, the robot cannot change its pose status.