Hello,
The second part of this lecture of mine, https://cours.etsmtl.ca/gpa546/Notes/L6L7.pdf, shows in great detail how to solve the direct and inverse kinematics of a typical 6-axis serial robot, the ABB IRB 120 industrial robot. It even shows how the confdata is calculated (in ABB, a string of four integers is used to specify the robot configuration for a given end-effector pose). I hope you will find this useful.
Ilian
Professor at the ÉTS, Montreal, Canada
http://www.youtube.com/GPA546