Kinematics software for a robot arm

[Fiver]

Does anyone know of one or more software packages available to handle the kinematics and inverse kinematics of a robot arm?  Thanks for any and all help and suggestions.

[hazzer123]

Here is a similar post - http://www.societyofrobots.com/robotforum/index.php?topic=1000

[Edit - Wow! I just noticed i started the forums 1000th thread ]

[Admin]

Which robot arm?

This might help . . .
http://www.societyofrobots.com/robot_arm_tutorial.shtml#forward_kinematics

and this program that I wrote:
http://www.societyofrobots.com/downloads/Robot_Arm_Designer.xls