I need help for programming a 6 DOF robotic arm , need help how to calculate servos angles using inverse kinematics ?

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Elmer Magsino

There is a good book by Koivo about robotic manipulators. I have derived the inverse kinematics equations only for a 5DOF, but solving for the equations for a 6DOF will not be far from how you solved for a 5DOF manipulator. Let me know if you want it.

Please see attached. If you find it useful, I used these closed form solutions in implementing machine problems in this paper.

http://search.proquest.com/docview/1449372056?pq-origsite=gscholar

Please cite it if you find it useful and as a means of acknowledging my help.