This matlab code is to compute forward and inverse kinematics, Jacobians, Singulariy conditions and transformation matrix of the 6DOF manipulator whose configuration is as shown below.
compile Main.m file for computing kinematics, jacobians, singularities, velocities, transformation matrix - Select relavant option from the menu
Home pose : with joint offset between link 5 and 6
[p; [alpha; beta; gamma;] = [2590; 400; 0; 90; 0; 0]
without joint offset
[p; [alpha; beta; gamma;] = [2500; 400; 0; 90; 0; 0]
Control : run control.slx