[For part I, see the author, ibid. 38, No.1, 95-106 (1988; Zbl 0669.70007).] In this second part of a three-part series on the basic mathematics of industrial robots, the fundamental problems of robotic inverse kinematics are introduced. Furthermore, a systematic approach for the exact solution to the inverse kinematics problem of a standard six-axis robot is elaborated upon. The solutions do not
... [Show full abstract] only treat two different configurations of the robot gripper but also the degenerate cases.