Abstract: The inverse kinematics of a 1P5R robot used for surgery is studied. Anovel algorithm for the inverse kinematics is derived from six simple polynomial equations. After eliminate several unknowns the equation with only one unknownvariable is obtained, which is a 12^th degree polynomial equation in one unknown. This means that the robot has 12 different possible configurations. Finally, the result is verified by a numerical example.

Key words: 1P5R robot, inverse kinematic analysis, kinematic equation