MATLAB: How to find inverse kinematics given D-H parameters

Question

Hello world!

I have these D-H parameters and I want to find the inverse kinematics.

I have found the final pose of end-effector by hand through homogeneous transformations.

How can I do that?

Thanks in advance!

Answer 1

First create a rigidBodyTree from dh parameters: https://www.mathworks.com/help/robotics/ref/rigidbodyjoint.setfixedtransform.html and then use inverseKinematics(): https://www.mathworks.com/help/robotics/ref/inversekinematics-system-object.html function.