Solving robot inverse kinematics problem by using uninterrupted helix transpose convention

The Denavit-Hartenbeg (DH) convention is used widely for investigation of robot eometry and kinematics. In practice, there is another convention is called uninterrupted helix transpose. Although this convention is very powerful but the application of it is limited. Like DH convention, the robot inverse kinematics problem with uninterrupted helix transpose convention is very difficult to solve as its equations are nonlinear, the conditions of variables are determined at any helix axis in space. This paper presents a digital method in which the uninterrupted helix transpose convention based on DH convention is used successfully.