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.
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