Write a Matlab function theta = ikinelbow(a2,d1,d4,d6,T,LR,UD,NF) that computes the inverse kinematics of the elbow manipulator, given a desired location of the endpoint frame T, which is frame 6 for the DH parameters below. The non-zero DH length parameters are passed to the function individually; otherwise, assume the skew angles in the table. LR chooses lefty (LR=1) or righty (LR=0), while UD chooses elbow up (UD=1) or elbow down (UD=0). No flip (NF=0) means the joint 5 angle is in quadrants 1 or 4, while flip (NF=1) specifies quadrants 2 or 3. Make sure to handle exceptional cases, such as a desired position that is outside of the workspace.

i ai di i

1 0 d1 /2

2 a2 0 0

3 0 0 /2

4 0 d4 /2

5 0 0 /2

6 0 d6 0

Use your previously generated fkine function to artificially generate poses, then run ikinelbow to retrieve the original joint angles.

function T = linktrans(a,d,alpha,theta)

T = [cos(theta) -sin(theta)*cos(alpha) sin(theta)*sin(alpha) a*cos(theta);

sin(theta) cos(theta)*cos(alpha) -cos(theta)*sin(alpha) a*sin(theta);

0 sin(alpha) cos(alpha) d;

0 0 0 1];

Previous codes:

fkine =

function T = fkine(a,d,alpha,theta)

Ttemp = cell(1,length(a));

Ttemp{1, length(a)} =[];

T = linktrans(a(1),d(1),alpha(1),theta(1));

for k = 2:length(a)

Ttemp= linktrans(a(k),d(k),alpha(k),theta(k));

T = T * Ttemp;

end