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let's assume that our robot consists of 3 degree-of-freedoms. In order to move the end-effector of this robot along a straight line, these 3 joints have moved as below:

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Now, if the desired end-effector trajectory is changed, how can I deduce from this deviation of end-effector trajectory, the correspond joint movements?

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    $\begingroup$ "desired end-effector trajectory is changed" -- why can't you use the same method you used to calculate IK for straight line end-effector motion? $\endgroup$ – MorganStark47 Jun 2 '20 at 5:15
  • $\begingroup$ Of course, I could calculate afresh with an IK-solver. However, I am wondering whether one can deduce the appropriate set of joint movements from the change in the ee-trajectory. $\endgroup$ – Joe Jun 2 '20 at 9:51

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