Dear Sir,

I am working on delmia specially for robotics. 

I have created 4 DOF model of robot in catia v5. I want to apply inverse kinematics to that robot.

But I am getting problems to define inverse kniematics. It gives some problems like "Can not compute Alphanodes" and "Unsupported arm type".

Here I have attached image below with all joints details.

I want help to define inverse kinematics for this type of robot with full procedure.

I want to learn every type of inverse kinematics method.

Regards

Nikunj