INVERSE KINEMATIC

[pablo07]

Hallo I have a problem with inverse kinemaic for the first three angle. I do it for IRB 1600 I need help. I finish now D-H forward kinematic for this robot. I must solving this problem and simulate in Simulink and then verify in FlexPendant. I saw in Internet so many solves but it didnt work. I know that is very difficult problem but I hope that someone have this.   
And the last question the Euler Angles in FlexPendant are Yaw,Pith and Roll or (ZYZ) or samething alse configuration . And the are solve with martix orientation 0->6 or 3->6.

[CrossConnect]

hi
Closed form solutions exixts for only certain kinds of (6Dof) robots (one in which the last 3 axises intersect at a point) I dont know the configuration of the robot you r talking of, so cant give you thesolution offhand.