  A polynomial solution to the inverse kinematic problem of the Kinova Gen3
Lite robot is proposed in this paper. This serial robot is based on a 6R
kinematic chain and is not wrist-partitioned. We first start from the forward
kinematics equation providing the position and orientation of the end-effector,
finally, the univariate polynomial equation is given as a function of the first
joint variable $\theta_{1}$. The remaining joint variables are computed by back
substitution. Thus, an unique set of joint position is obtain for each root of
the univariate equation. Numerical examples, simulated in ROS (Robot Operating
System), are given to validate the results, which are compared to the
coordinates obtained with MoveIt! and with the actual robot. A procedure to
choose an optimum posture of the robot is also proposed.
