Compute joint configurations to achieve an end-effector pose

**Library:**Robotics System Toolbox / Manipulator Algorithms

The Inverse Kinematics block uses an inverse kinematic (IK) solver to
calculate joint configurations for a desired end-effector pose based on a specified rigid body
tree model. Create a rigid body tree model for your robot using the `rigidBodyTree`

class. The rigid body tree model defines all the joint constraints
that the solver enforces.

Specify the `RigidBodyTree`

parameter and the desired end effector inside
the block mask. You can also tune the algorithm parameters in the **Solver
Parameters** tab.

Input the desired end-effector **Pose**, the **Weights**
on pose tolerance, and an **InitialGuess** for the joint configuration. The
solver outputs a robot configuration, **Config**, that satisfies the
end-effector pose within the tolerances specified in the **Solver
Parameters** tab.

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