MATLAB code for general inverse kinematics of the robot using kinematic decoupling. Take as input. Validation 0f these results also performed using forward kinematics for all eight solutions.
Animation shows the movement of the robot from given initial position with the cycloidal trajectory for T = 3
ZXY Euler angles (φ, θ, and ψ) describing orientation of end-effector and end effector position 𝒑" # (x, y , z)