Inverse kinematics for 3-axis robot with no wrist
Q = ikine3(R, T) Q = ikine3(R, T, CONFIG)
valid character
arm to the left (default)
arm to the right
elbow up (default)
elbow down
Q = ikine3(R, T) is the joint coordinates corresponding to the robot end-effector pose T represented by the homogenenous transform. This is a analytic solution for a 3-axis robot (such as the first three joints of a robot like the Puma 560).
Q = ikine3(R, T, CONFIG) as above but specifies the configuration of the arm in the form of a string containing one or more of the configuration codes:
The same as IKINE6S without the wrist.
The inverse kinematic solution is generally not unique, and depends on the configuration string.
Joint offsets, if defined, are added to the inverse kinematics to generate Q.
If the robot has only three joints the tool position must be specified through the tool frame homogeneous transform, otherwise it is posed equal to the origin of frame 4.
Inverse kinematics for a PUMA 560 based on the equations by Paul and Zhang, The International Journal of Robotics Research, Vol. 5, No. 2, Summer 1986, p. 32-44