I have a mini project in robotics, where i am supposed to present an overview or a recipe of some sort for solving analytic and numeric inverse kinematics of an open chain manipulator with n joints. So far we have only been working with the puma arm and solving this with the analytic method. Here we have the spherical wrist joint which makes the analytic inverse kinematics quite easy to solve. But this does not help me with the case i am working with now ... My question is what should you be looking for when you have an arbitrary open chain manipulator with n joints? Is there some kind of recipe that you can follow?
I hope someone can help me clear my mind a little. Thank you
