research we will address the inverse kinematics problem of non-redundant robot manipulators.

 Most existing industrial manipulators are 5- or 6degree-of-freedom robots, hence, it is of practical importance to solve Eq. (2.14) for n=5 and n=6. The

numerical techniques developed in this text are based on a complete inverse kinematic analysis of four-degree-offreedom manipulators. Therefore, this research will aim at solving Eq. (2.14) for robots with four, five, and six joint axes.

 Although the techniques described in this text can be applied to manipulators having prismatic joints (Manseur and Doty 1988), we concentrate on all-revolute six-DOF manipulators; n is six and all joints are assumed revolute.

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