Inverse kinematics of serial robots with wrist

Computes all solutions of the inverse kinematics for common industrial serial robots

This function solves the inverse kinematics of the most common types of industrial serial manipulators. These are manipulators with a 3R ortho-parallel basis structure and spherical wrist.
The simplest structural description of manipulators with an ortho-parallel basis with offsets and a spherical wrist can be accomplished by only 7 geometrical parameters (click on the picture). Hence, the Denavit-Hartenberg parameter set is not used here.
TUTORIAL
Start with loading the design-parameters of different industrial robots:
>> opw_parameters

To compute all solutions for a given end-effector pose of a Stäubli TX40 use:
>> theta = ik_6Ropw( staeubli_tx40, [40,400,500], [1, 0.3, 0.1], 0.25)

Here [40,400,500] denotes the position of the end-effector and [1, 0.3, 0.1] and 0.25
are a possible input for the orientation of the end-effector. [1, 0.3, 0.1] denotes
the direction of the z_e-axis and 0.25 the rotation about the z_e-axis.

The forward kinematics can be calculated using the first solution by the function:
>> EE = fk_6Ropw( staeubli_tx40, theta(:,1) )

EE is a homogeneous transformation matrix with translation (within the first coloumn)
and rotation.

You can also use a homogeneous transformation matrix to compute the inverse kinematics:
>> theta = ik_6Ropw( staeubli_tx40, EE)

or
>> theta = ik_6Ropw( staeubli_tx40, [1 0 0 0; 40 0 0 -1; 50 0 -1 0; 70 -1 0 0])

You should also read the according paper for more details:
M. Brandstötter, A. Angerer, and M. Hofbaur, "An Analytical Solution of the
Inverse Kinematics Problem of Industrial Serial Manipulators with an
Ortho-parallel Basis and a Spherical Wrist," Austrian Robotics Workshop, 2014.

Link to paper: http://modular-machines.at/images/Modular-Machines/pub/BraAngHof14.pdf