To get the value of joint variables in robot kinematic problems

To control robot in particular orbit in its working zone, it is necessary to identify the value of variables in the joint space to meet the requirement of motion direction and position of effector. This paper presents a new method which can easily to compute the joint variables using computer software. The method which based on the identity transform is to form optimal problem in order to get the value of joint variables subjecting to the constraints. This method can be used as a general tool to solve robot kinematic problems