Given: First section: OA = 267 mm. . Second section: AB = 155 mm. Third section: BC = 135 mm. Fourth section: CD = 217.5 mm. OD 180 mm CD is the distance from third joint to the end of gripper and CD // OA. 01, 02 and 03 are the angles of joint 1, joint 2 and joint 3. (Joint 0 is working in x-y plane) Find the values of 01, 02 and 03? B Figure 1: Joint marking for KUKA arm C A B D y Figure 2: Inverse Kinematic with geometric method