Inverse Kinematics Solution of a 6-DOF Industrial Robot

A vital part of many industrial robot manipulators is to reach required position and orientation of end effectors so as to complete the pre-defined task. To get this, one should have knowledge of kinematics, i.e. inverse kinematics (IK). Though inverse kinematics never gives a closed form solution, it is too difficult to solve such problem of an industrial robot. There are so many analytical and other simulation methods which are adopted to solve this IK problem for our 6-DOF industrial pick and place robot. In this paper, artificial neural networks (ANN) are used and simulated by using MATLAB.