Inverse kinematics (Geometric aproach)

[IDE]

Good time of the day!
I’m busy with Inverse kinematics and geometric approach for Puma 600.
I found solutions for first three joints and now I have to find it for the last three. Perhaps my questions will be stupid.

Input for first free joints is tuple (x,y,z) in Cartesian space. What should be the input for the last three?

I read Shahinpoor, Fu and Gonzalez and some other and did not get it.
Would be very grateful for answer!
Best regards

[TygerDawg]

Perhaps it would be {X, Y, Z, RotationX, RotationY, RotationZ}.  You would also have to consider & specify the order of the rotations.

[TygerDawg]

It occurred to me that it would be necessary to also specify configuration data (elbow up/down, wrist up/down, shoulder lefty/righty).

[CrossConnect]

Puma has 8 solutions for each pose. The elbelbow up/down, wrist up/down, shoulder lefty/righty is linked to choosing one from these 8 solutions. But as i understand u have only found the position of the last frame. You need to specify the orientation too for the last frame w.r.t base frame to get complete solution.
Orientation can be specified in no of ways rotation matrix , eular angle, etc