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