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I want to find out the inverse kinematics solution of 6 link manipulator planar robot, using DH Parameters, but I don't know how to, I know how to calculate for 3 link manipulator but not for 6 links, I found out that we have to use Inverse Transformation Matrices for higher DOF problems but I was not able to find the solution even with those, and I couldn't find any example either, in which they would show how to solve this problem. Can anyone tell me the solution to this problem or provide me with a link to the solution?

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This question is a bit too broad to answer here. I recommend you find a good robotics manipulation textbook and work through it. Here are three classics:

  • Robotics: Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Available on Amazon or pdf.
  • Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar. Available on Amazon or pdf.
  • A Mathematical Introduction to Robotic Manipulation by Richard M. Murray, Zexiang Li, and S. Shankar Sastry. Available on Amazon or pdf.

But there are many others on the topic. I prefer the first book by Siciliano et al. Note that the last book by Murray et al uses a different formulation for kinematics. They use Product of Exponentials instead of DH Parameters.

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