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*