Demonstration 

The handling robot in the following "handling robot design support system" 
demonstrations is a robot with 3 joints and 3 arms. 

1) Forward Kinematics 
      Deducing the position of the end-effector (Px,Py,Pz) in terms of 
      the length of each arm (l1,l2,l3) and the rotation angle of each joint 
      (theta1,theta2,theta3). 

P.105 Function 1
2) Inverse Kinematics Calculating the desired joint rotation angles (theta1,theta2,theta3) to move the end-effector to a given position (Px,Py,Pz). Since this problem have more than two solutions, filtering to reduce the number of solutions is demonstrated by restricting the rotation angle of a certain joint.
P.105 Function 2
3) Calculation of Torque and Evaluation of Manipulability By using the forward kinematics results (Px,Py,Pz) and giving the force working on the end effector (Fx,Fy,Fz), equations to calcu- late the torque working on each joint (T1,T2,T3) and the manipu- lability (D) are deduced. Then, by placing constraints on moving the end-effector, the equations for torques and manipulability are simplified.
P.105 Function 3
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