Inverse Kinematics ( calculating joint angles) of the PUMA 560 via geometric approach

Hi all,

Just out of curiosity , I want to calculate the inverse parameters of
the puma 560 ( a 6R robot with three axes 4,5 and 6 intersecting  ),
using the "Geometric approach" of the closed form solution . THe
inverse kinematics parameters are the joint angles of various joints in
the manipulator. Please comment on the complexity of the task..

Thanks for your time,
Amit.