Type | End-effector’s DoF | Condition |
---|---|---|
R | \({\text{G}}_{\text{F14}}^{\text{II}} \left( {{\text{R}}_{\upalpha } , {\text{R}}_{\upbeta } , {\text{T}}_{\text{a}} , 0 , 0 , 0} \right)\) | \({\text{R}}_{\upalpha } \not\parallel {\text{R}}_{\upbeta }\) |
T | \({\text{G}}_{\text{F16}}^{\text{II}} \left( {{\text{R}}_{\upalpha } , {\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , 0 , 0 , 0} \right)\) |
|