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In this study, we aim at obtaining inverse kinematic model of a serial manipulator using spatial operator algebra. For testing the inverse kinematic algorithm, the Vpython software program which has simultaneous view and software working, is used. The aim is to measure the inverse kinematics modeling work on different serial manipulator mechanisms with spatial vector algebra. The algorithm is used with the same reference inputs on the recursive, exact and nonrecursive manipulators. During the tests, the permitted error tolerance is 0.01 cm. The graph plots show that the algorithm is fit for the error tolerance. In this study, by using spatial operator algebra, the inverse kinematical analysis of exact, redundant and nonredundant manipulators with the structure of serial topological is made. Analytical methods related to inverse kinematic solution can be resolved as symbolic

Kinematic Model Extraction for Serial Manipulators Which Have in Different Topologies in Vpython Environment