1. The joint angle was 2.5° with lateral irradiation and 18° with dorso-palmar irradiation.

2. The condylar-joint angle (Brattström) and the condylar depth index (Ficat and Bizou) were also evaluated.

3. Comparisons of the two theories are made for various values of the rock parameters and the joint angle.

4. The joint angle drift problem of redundant robot manipulators could be remedied by using a quadratic -programming(QP) based problem formulation and its online neural QP solver.