Analytical inverse kinematic solution using the D-H method for a 6-DOF robot

This paper proposes an analytical approach to solve inverse kinematics of a 6-DOF robot. The robot discussed here is designed with 6R configuration. The D-H model of the six-axis robot is built. The forward analytical solution is deduced using the D-H method. Then, analysis of inverse kinematics for the robot is presented. And finally, the validity of the inverse kinematic equations is verified. Forward kinematic equations and inverse kinematic equations are suitable for all kinds of robots with configuration similar to those of the robot in this paper.