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How to find inverse kinematics given D-H parameters?

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Hello world!
I have these D-H parameters and I want to find the inverse kinematics.
I have found the final pose of end-effector by hand through homogeneous transformations.
How can I do that?
Thanks in advance!

Accepted Answer

Ameer Hamza
Ameer Hamza on 30 Dec 2020
RoBoTBoY on 1 Jan 2021
dhparams = [l1 -pi/2 l0 0;
l2 0 l3 -pi/2;
l4 -pi/2 0 0;
0 pi/2 l5 0;
0 -pi/2 l6 0;
0 0 l7 0];
I put them this way.
Ameer Hamza
Ameer Hamza on 2 Jan 2021
You need to put constant values for l1, l2, ..., l7. Symbolic variables will not work here.

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