This patent describes an articulated manipulator of the type having at least a first, a second, and a third link respectively associated with a first, a second, and a third axis of rotation of motion about an offset wrist. Each link and motion associates with a first, a second, and a third joint. A method determines a first, a second, and a third joint angle, respectively, for each of the axis of
... [Show full abstract] rotation to provide control data for activating actuators associated with a corresponding joint, to permit positioning of an end of the manipulator to a desired point. The method comprises the steps of: (A) obtaining data identifying a desired end point position and orientation, the data including an end point position vector and an end point approach orientation vector; (B) multiplying the end point approach orientation vector by the length of the first link; (C) producing a first set of coordinates, by subtracting of multiplying from the end point position vector; (D) determining a first vector from the first set of coordinates along the first axis of rotation with a length of the first link; (E) setting initially a second set of coordinates equal to the first set of coordinates; (F) determining from the second set of coordinates a second vector along the third axis of rotation, with a length of the third link; (G) calculating the cross-product of the first vector and second vector, to produce a third vector; (H) multiplying the third vector by the length of the second link.