Table 19.

Two solutions of joint angles for example 7.

No.	${\theta }_1$	${\theta }_2$	${\theta }_3$	${\theta }_4$	${\theta }_5$	${\theta }_6$
1	22.0000	34.0000	−66.8696	90.0000	90.0000	2.8696
2	22.0000	34.0000	64.7411	90.0000	90.0000	−128.7411