Hi Tasneem,

I also just have taken up robotics.

In my understanding of standard robot control, "Yacobian" is the keyword. The kinematics of multi DOF robot arms consist of a lot of sin, cos, and tan. Hence, it is very hard to obtain the inverse solution. However, for a very small movement of the arm, the kinematics is described with linear simultaneous equations. So, you can solve them with derivatives of the kinematics. An actual robot control is a repetition of small movements, Hence, this is good enough to create a control program.

I think you can find the way for the solution.

Hi Ms. Tasneem,

Since you are familiar with Mathematica, you may study the source code given by Prof. Reza (author of "Theory of Applied Robotics") in the link below.

http://ionotronics.com/mathematica_code_inverse_kinematics.html

Dear Tasneem Harahsheh,

Also i suggest you to see links and attached files in topics.

-Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist ...

https://www.hindawi.com/journals/mpe/2017/2074137/

-Inverse kinematics and design of a novel 6-DoF handheld robot arm ...

ieeexplore.ieee.org/document/7487359/

-Inverse Kinematic for 6DOF arm - File Exchange - MATLAB Central

https://it.mathworks.com/.../30243-inverse-kinematic-for-6dof-ar...

Best regards

The inverse kinematics solution is not easy to find in closed form. It might be a better idea to program the computer and get iterative solutions.

At times, the solution may not be unique. Sometimes it may not exist at all.

The computer program must include all the constraints, as well.

Good luck!

if you have a model you can used ANN network tool

I agree with Figen Ozen. The inverse kinematics in open kinematics chain has multiple solutions which require a program to solve it and exclude solutions don't match with the system constraints