AN INVERSE KINEMATIC SOLUTION TO THE 6 DEGREE OF FREEDOM KUKA 662 ROBOT BY REDUCTION TO AN 8TH ORDER UNIVARIATE POLYNOMIAL, OR A 4TH ORDER BIVARIATE POLYNOMIAL, WITH UP TO 4 REAL SOLUTIONS

The Kuka 662 is a robot that has been problematic in obtaining a workable

Inverse Kinematic Solution. The Inverse Kinematic Solution is needed in order to set the

joint angles of a robot so that the manipulator can reach desired locations and

orientations. The solution obtained in this work is an 8th order univariate polynomial or

a 4th order bivariate polynomial. Unlike open form Inverse Kinematic Solutions of the

past, modern computers are now powerful enough to solve these polynomials quickly

using iterative numerical techniques. The application of a rapidly determined Inverse

Kinematic Solution offers hope of the resurrection of this once popular robot.