AKIMAN - is a software package written in symbolic computation program Mathematica. The package assist the analysis of manipulator kinematics, and particularly is used to solve singular inverse kinematic problem (SIKP). The knowledge base includes modelling of manipulator kinematics and algorithms allowing to solve singular inverse kinematic problem. In scope of kinematics modelling we can: compute kinematics using Denavit-Hartenberg algorithm, find kinematics in different representations, compute jacobians and define singular configurations of manipulator. In scope of SIKP the package allow to decide a matter of avoiding singularities and allow to detect quadratic normal forms of kinematics.
The software package AKIMAN, is useful for robot designer

Tomasz Sulka, 2001