Inverse Kinematic for 6DOF arm

It calculates Inverse Kinematic for 6DOF anthropomorphic arm with spherical wrist.
Updated 31 Jan 2011

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% Anthropomorphic arm with 6 DOF and spherical wrist
% It calculates the Inverse Kinematic of an Anthropomorphic arm with 6 DOF.
% 'q' is the solutions in radiant and K is the direct Kinematic matrix.
% K = [ n s a p;
% 0 0 0 1]
% where n, s, a are three vectors fo 3 elements that represents the
% end-effector's orientation, and p is the desired end-effector position.

Cite As

Andrea Cirillo (2024). Inverse Kinematic for 6DOF arm (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2010b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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