SOFTWARE IMPLEMENTATION OF SOLVING THE INVERSE KINEMATICS PROBLEM OF A SIX-MEMBERED MANIPULATOR

A brief review of the existing methods for solving inverse kinematics problem multilink mechanical systems is carried out. geometric model an industrial manipulator KUKA family with six degrees freedom developed. special method separately a spherical wrist design applied to demonstrate this approach efficiency. An approximate numerical solution implemented in software. The effectiveness software tested on example various trajectory problems using Universal Mechanism package modelling