Inside Axis 4, 5 & 6 of KUKA KR5 Robot

These axes are jointly driven by three actuators. One can observe that by moving joint 4 moves motors 4, 5 & 6 together. Moving joint 5, moves motors 5 and 6, whereas moving joint 6 moves just the actuator 6. Please see paper published at iNaCoMM 2013 at http://www.inacomm2013.ammindia.org/Papers/105-inacomm2013_submission_202.pdf