Solve the inverse kinematics for position of the wrist cente

Solve the inverse kinematics for position of the wrist center. That is, find equations for the joint angles to place the origins of F_4, F_5, and F_6 at a desired point d_c_^0 = [p_x, p_y, p_z]^T. You do not have to worry about the orientation inverse kinematics or placing the end effector frame at a desired point. That is, the DH parameter provided are sufficient to solve this problem. I suggest you use the algebraic approach. Calculate the Ai matrics and find useful elements to solve for the joint angles.

Solution

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