This document will help in better understanding of forward and inverse kinematics. For forward kinematics you are only required with angles and it provides you the end effector position and in Inverse Kinematics provide the end effector position (coordinate axes) and GUI will provide you the required angles to achieve that position.
Afaq Khan (2021). GUI of forward and inverse kinematics for multi dof robot (https://www.mathworks.com/matlabcentral/fileexchange/89684-gui-of-forward-and-inverse-kinematics-for-multi-dof-robot), MATLAB Central File Exchange. Retrieved .
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