Finding the better solution of the inverse kinematics problem, with the minimum of the trajectory errors, is very difficult because there are many variable parameters and many redundant solutions. The presented paper show the assisted solving of the inverse kinematics with the goal to minimize the final end-effector trajectory errors, by optimizing the distance between the and-effector final position and the target. All obtained results were been verified by applying the proper forward kinematics virtual LabVIEW instrumentation. The paper tries to answer at the inverse kinematics problem for one known mathematical trajectory and identifying the cinematic errors after the establishing and applying the proper assisted solving method using the Cycle Coordinate Descent Method coupled to the proper Neural Network Sigmoid Bipolar Hyperbolic Tangent (CCDM-SBHTNN). We were shown one complete study case to obtain one circle space trajectory using one arm type robot fixed on the ceiling. The presented method is general and can be used in all other robots types and in all other conventional and unconventional space curves.

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Since technology moved beyond micro, the accurate motor control became a challenge. Improvements were made at the level of each component of the motor controlling loop, but limitations still exist. The presented paper is focused on pulse width modulation, the most used method of conversion the computed digital signal into the analog voltage needed to excite the coils, in order to emphasize where limitations have to be overcome. In the end, some recommendations are made for improving the performances of the control loop.

For the robot's dynamic behaviour analyse will be necessary to know the positions, velocities, accelerations of all robot's joints. For that firstly will be necessary to know the positions and secondary the angular and linear velocities in all robot's joints. The LabVIEW software from National Instruments, USA, assures one easily way to obtain the information, in matrix form, about the joint's positions and velocities and compare them with the data acquisition, information that could be used in the future, in the assisted dynamic behaviour. In the paper was shown some different cases of the relative joint's velocities. The applied method solves one small part of the complex problems of the robot's kinematics.

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