Editing Robot kinematics (section)

===Inverse kinematics===

{{Main|Inverse kinematics}}
Inverse kinematics specifies the end-effector location and computes the associated joint angles. For serial manipulators this requires solution of a set of polynomials obtained from the kinematics equations and yields multiple configurations for the chain.  The case of a general 6R serial manipulator (a serial chain with six [[revolute joint]]s) yields sixteen different inverse kinematics solutions, which are solutions of a sixteenth degree polynomial. For parallel manipulators, the specification of the end-effector location simplifies the kinematics equations, which yields formulas for the joint parameters.