Geometric approach in solving the inverse kinematics of industrial robots with spherical wrist

In this research, a simple geometric approach proposed for the inverse kinematics of 6R serial industrial robot manipulators with Euler wrist. For an industrial robot, inverse kinematics refers to solving angular values of its joints to reach a given desired position and orientation values. Also in this research, using this geometric method, a plug-in for Rhino3D modeling software has been developed, in which a six axis industrial robot with a spherical wrist can be simulated in a simulation environment. This plug-in has been developed in Grasshopper3D parametric modeling environment which is running inside Rhino3D modeling software. In this way, the industrial robot, which is simulated, can be controlled with parametric values. Simulating an industrial robot is important for detecting singularities, catching reachability errors, catching exceeding angular limits errors and collision detection.